Yoga Nidra is a form of guided meditation that anyone can do! As one of my teachers says “it’s meditation made easy” and, in the least, you will have spent some time totally relaxed. It is translated as Yogic Sleep in which you enter slower brainwaves states which are associated with the different levels of consciousness. You have the potential to be in deep sleep with awareness. You will practice it in the most comfortable position for you, suggested lying down with eyes closed, blanket over the body, softness under the body, support under the head & if you have a tight lower back, support under the knees.
You can find more information about Yoga Nidrā on one of my teacher’s websites here. Kamini Desai wrote a book about Yoga Nidrā that merges the scientific explanations and research with the yogic philosophy, Yoga Nidra: The Art of Transformational Sleep.