These books offer a wealth of information about a range of issues including postures, breathing, developing a personal practice and the authors understanding of yoga.
Yoga Nidra is a sophisticated practice that teaches relaxation and supports psycho-spiritual development. It can be practiced as part of a longer practice – say at the beginning or end of a posture practice, or as a stand-alone practice. I have benefited greatly from a regular yoga nidra practice: it taught me awareness, patience, the ability to accept unpleasant experiences. On my personal journey yoga nidra prepared the ground for meditation (which would have been absolutely impossible prior to years or yoga nidra). I eventually found my home in Insight Meditation and never really explored the full potential of Yoga Nidra. My limited experience indicates it could be an amazing lifetime practice.
I think one will have to commit to a regular practice to benefit from the iRest Yoga Nidra practice while the first two CD’s recommended can be tapped into when appropriate (although they are blissful so it is possible you will listen to them on a more regular basis then you expect).
For an introduction to self-actualisation from a yogic point of view try Dr. Rishi Vivekananda (2005) Practical Yoga Psychology. For a discussion of self-actualisation as viewed by Western psychology look for articles, or books, discussing self-actualisation and Rogers and/or Maslow (quite a few available free on the web). And, any introduction to Person Centred Counselling.
Ken Dychtwald (1986) Bodymind. An exploration of the body-mind connection integrating various Eastern philosophies and Western psychology.
Thomas Hanna (2004) Somatics: Reawakening the Mind's Control of Movement, Flexibility, and Health.
Patanjali's Yoga Sutras is a complex read. It was written in Sanskirt: many words don't have direct translations into English, or, have multiple meanings which are determined by context and discretion. Because of this translations are always biased by the translators point of view. The best way to study the sutras is to have somebody 'unpackage them with you'. In the absence of an opportunity to study the sutras with a teacher the following three translations are ones I feel will be accessible to beginners.
TKV Desikachar (1999) The Heart Of Yoga: Developing A Personal Practice
This book is a fantastic introduction to Hatha Yoga. Within it is a concise translation of Patanjali's Yoga Sutras.
BKS Iyenger Light on the Yoga Sutras of Patanjali. This book includes word for word translations, a translation of the sutra to English and a discussion of the meaning of each sutra.
Swami Vivekananda (1899) Pantanjali’s Yoga Aphorisms with Commentaries. This is a very rich discussion of the sutras, it includes all sorts of asides that bring the text to life. Of the three books in this list Vivekananda's is probably the most lively and passionate discussion. It is also hard work at times.
While the first two books adopt an all-embracing attitude to faith positions Vivekananda assumes that the reader is of a religious faith. Atheists might find this translation a bit annoying at times.