Autobiography of a Yogi by Yogananda is a classic - preparing a template for attitude toward practice, providing inspiration for setting out on the path, and just an incredible story.
The Yoga Sutras of Patanjali, as already mentioned. And the life story of Tibetan yogi Milarepa is an incredible read as well.
Thanks for the reminder! I've watched the Awake a documentary about his life. I'll definitely get the book
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