If you’ve ever held a downward dog, you have Bellur Krishnamachar Sundararaja Iyengar to thank. The man who popularized yoga throughout the West died yesterday in India. A sickly child, Iyengar discovered a talent for flexibility and a dedication to yoga as a teenager. In the 1950s, Iyengar visited Europe, beginning a series of global treks that led to the establishment of his Iyengar Yoga institutes in 70 countries. He codified sutras into moves, leading millions down the path to inner peace.