When you say 'fear of the unknown' that is the definition of fear fear is the unknown fear is what you do not know and it's genetically within us so that we feel safe. We feel scared of the woods because we're not familiar with it and that keeps you safe.
We've all had that fear that despair of losing someone or this fierce desire because it's not reciprocated. The less reciprocation there is the more desire we have.
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Yoga is a way to freedom. By its constant practice we can free ourselves from fear anguish and loneliness.