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Punctuation is a style issue. As such, you can determine as the writer the message you want your readers to understand. A nonessential clause is an unnecessary piece of information which adds expl...
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#3: Attribution notice added
Source: https://writers.stackexchange.com/a/21935 License name: CC BY-SA 3.0 License URL: https://creativecommons.org/licenses/by-sa/3.0/
#2: Initial revision
Punctuation is a style issue. As such, you can determine as the writer the message you want your readers to understand. A _nonessential clause_ is an unnecessary piece of information which adds explanation to a sentence. It is separated by commas or em-dashes or parentheses from the rest of the sentence (or a single comma or em-dash or parentheses at the end of a sentence). The sentence should be clear without the nonessential clause. An _essential clause_ occurs when it cannot be separated from the main clause without altering the meaning of the sentence. Essential clauses generally do not take commas. I would say your clause starting with **which** is necessary to convey the information hath yoga is good for beginners, and it is thus an essential clause. **I would say no comma but neither is incorrect.**