Of all the things one things appear true no one wants you to feel your power .The power that is within you .There is this quote that I  came across "They fear the day you will feel your power " so they keep you in fear .This is one life which is given to each one of us for our own spiritual growth where we are allowed to do our own set of mistakes .
Mistakes are done without intentions and we learn from them.So why fear mistakes?From the moment we start listening to people we often hear don't do mistakes but its actually the mistake I did yesterday that has changed my destiny today .It has added to my relavent experience in the field not that I have to read someone else's mind and then do problem solving for my situations .
Mistakes are good for one's health and brain they train you on some angle where you have not grown.
Yoga as a philosophy teaches you Yama and Niyamas (check google for these)after that it gives you freedom to work .It makes you free to give your contribution to the society .As you are prepared for something bigger then yourself .The being within expands .Your mind expands experiences grow and one day you reach the state of "ananda" the eternal ,everlasting bliss rising above the write and wrong ,good or bad and all that is considered opposite.