Milarepa was a yogi and Tibetan Buddhist mystic of great learning and turbulent worldly experience. His "hundred thousand songs" are read and loved by many, but examinations of them are few. Here, three of these songs are explored by Sangharakshita, a well-respected Buddhist teacher and author, in such a way that the wisdom and teachings Milarepa drew out in his songs are made relevant to life for us today. Known by some as both the Robin Hood and Shakespeare of Tibetan Buddhism, Milarepa and his songs offer a magical and thoughtful way into the wisdom and compassion sought on the Buddhist path. The Yogi's Joy reveals how these ancient teachings can ring true for us--here and now.