Placing the right foot at the root of the left thigh, encircling the (right) knee by the left leg, holding (the two feet by the opposite hands), twisting the body and staying in this posture is the Asana declared by Sri Matsyanatha.
"Having placed with the right foot at the root of the left thigh, let the toe be grasped with the right hand passing over the back, and having placed the left foot on the right thigh at its root, let it be grasped with the left hand passing behind the back. This is the asana, as explained by Sri Matsyanatha. It increases appetite and is an instrument for destroying the group of the most deadly diseases. Its practice awakens the Kundalini, stops the nectar shedding from the moon in people." Swartmarama, says, in the Hatha Yoga Pradipika.
Note:- For the beginners this Asana is made easy and named Ardha-Matsyendrasana. The only difference is that in Matsyendrasana the folded leg is placed at the root of the thigh below abdomen, in Ardha-Matsyendrasana it is placed by the side of the opposite buttock.
 Steps for Practice:
1. Sit extending both the legs together in front, hands by the side, palms resting on the ground. Fingers should remain together pointing forward.
2. Fold the right leg at knee. Slowly set the right heel at the perineum.
3. Now folding the left leg, bringing it from above the right knee, place it by its side on the ground. The knee of the left leg should remain towards sky.
4. Now bring the right hand on the left side of the left knee. The left knee should remain at the left side of the right armpit.
5. Now straighten the right hand and hold the toe or ankle of the left leg.
6. Twisting the body to the left side, look backwards, place the left hand bringing it from the back on the right thigh. Gaze should be towards back.
7. While returning to the original position first release the hand from the thigh and turn head forward.
8. Now bring the back to normal position after loosening the right hand.
9. Bring the left leg in original position.
10. Now bring the right leg also original position.
11. Repeat it similarly from the other side by folding the left leg first.
Benefits
1. It is very much useful in constipation and dyspepsia.
2. This Asana improves liver efficiency and removes debility of kidney.
3. It is very useful in diabetes.
4. It is very beneficial for the muscles of shoulder and back.
5. Stimulates the liver and kidneys
6. Stretches the shoulders, hips, and neck
7. Energizes the spine
8. Stimulates the digestive fire in the belly
9. Relieves menstrual discomfort, fatigue, sciatica, and backache
10. Therapeutic for asthma and infertility
11. Traditional texts say that Ardha Matsyendrasana increases appetite, destroys most deadly diseases, and awakens kundalini.
Precautions
1. Some persons may experience difficulty in practicing it. If they cannot hold the toes of the left by right hand they should hold the ankle.
2. If that also is not possible then hold the knee.
3. While twisting backward twist the backbone turning well.
4. Before resorting to the practice of this Asana practice Vakrasana.
5. Those suffering from stiffness in spine should practice it very carefully.
Beginner`s Tip: In this version of the pose, the opposite-side arm is wrapped around the outside of the raised-leg upper thigh. This may be impractical, and potentially harmful, for beginning students. Be sure to sit up well on a blanket support and for the time being just wrap your arm around the raised leg and hug the thigh to your torso.
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