Inclusion Criteria:  English-proficient men and women aged ≥18 years Free of oncologic disease by clinical examination and history Completed neurotoxic chemotherapy such as platinum agents, taxanes, vinca alkaloids, and bortezomib at least three months prior to enrollment Diagnosis of CIPN based on symptom history, loss of deep tendon reflexes, or the presence of symmetrical stocking-glove pain, numbness, or paresthesia Grade ≥1 sensory pain based on the NCI Common Terminology Criteria for Adverse Events (CTCAE) version 5.0 Self-reported moderate to severe CIPN pain, as defined by a score of 4 or greater on the BPI-SF average pain item over the past week On a stable regimen (no change in three months) if taking anti-neuropathy or other pain medications and not taking acetyl-L-carnitine 77 Willing to adhere to requirement that no new pain medication be taken throughout the first 12 weeks of the study period Willing to adhere to all study-related procedures, including randomization to one of the three arms Patient answers "Yes" to at least one factor in the question: "Do you think your balance, gait, posture, alignment, or flexibility has been affected by your experience of CIPN?"  Exclusion Criteria:  Patients who have received physical therapy or practiced yoga for CIPN in the past 3 months. As patients who have received physical therapy or practiced yoga in this time period may already be experiencing the benefits of yoga/stretching therapy, we will exclude such patients. Patients who demonstrate a high risk of falls during screening, denoted by FR <15.24 cm, will be excluded to ensure participant safety in practicing the yoga intervention