When the late Swami Satchidananda opened the Woodstock Festival in 1969, he became a symbol of the spiritual ideals of the Generation: Peace, Love, and Unity. But he was more than just an American counter-cultural icon. As a world-renowned Yoga master from India, his ecumenical spiritual message of "Truth is One, Paths are Many" found a sympathetic audience with the Pope, as well as important rabbis and imams, at the United Nations and with visits to a few American presidents (Republican and Democratic).  One of the founding teachers that began the "yoga revolution" that is now a ubiquitous part of our cultural landscape, in his books the Swami demonstrated his amazing physical mastery of yoga postures and also expounded on its philosophy of selfless service and universal unity. Here he lectures on how to be happy.