For the public radio program Speaking of Faith, host Krista Tippett interviewed Matthew Sanford, who wrote "Waking: A Memoir of Trauma and Transcendence."

He's been a paraplegic since the age of 13. Sanford shares his wisdom on knowing the strength and grace of our bodies even in the face of illness, aging, and death.

This complete, behind-the-scenes footage was taped in Studio P at Minnesota Public Radio and includes clips of Sanford teaching yoga to students with disabilities.

Produced by Trent Gilliss and Mitch Hanley.