Yoga should only ever be learned in the beginning from a live teacher. Books are helpful as a supplement but should never replace live tuition. Regular Yoga does progressively diminish the force of Avidya in our lives. The second method is through self-examination. Regular contemplation of our actions and habitual thought patterns will awaken us to take increasing responsibility for our lives.
Meditation is one excellent method that can help.
So too can keeping a Journal of our progress. Activities like these can break the habitual stimulus-response cycle , and place that moment of choice back in between the two. In other words, instead of responding automatically as we usually do, we can choose in that moment to act differently. We become increasingly conscious and responsible, instead of remaining creatures of habit. The third method is to create a certain detachment to the actions of our life, and almost become an external observer.