Intention provides direction. Helpful to be clear about what that intention is. A few minutes of mindful breathing can help clear the mind for this process.
In 20 years, I have heard many reasons why people practice yoga, and they are all valid. One of the things that I find useful whether you are building a home practice or at a yoga class, is to set an intention and check in with it periodically, mindfully.
For example, if, at the beginning of your practice you notice that you are really stiff in the neck, guide yourself to bring balance…watch that you are not tightening the shoulders or clenching your teeth in your poses. If you have a very stiff lower back, perhaps try more restorative poses that provide traction, instead of over doing strong backbends.
If you are setting goals for your day, your career, relationships, check that your actions bring balance and that you are moving in the direction of your intention. I am available for private yoga classes to help you with the process. When your practices are meaningful to you and do move you towards your state of equipoise, then you are using your yoga practice therapeutically