This paper primarily presents a general review of the theoretical literature pertaining to “somatic awareness,” which is assumed to be a potential healing element of yoga. Somatic awareness is a devised concept indicating the process of non-judgmental self-awareness for subtle bodily sensations and felt senses. It remains meaningful to define somatic awareness on a theoretical basis. This paper therefore provides an overview of current research in various areas related to somatics, body awareness, mindfulness, bodyworks, and therapeutic approaches involving yoga. To make the review more purpose-directed, this paper starts with a review of studies for soma and soma intelligence perceived from the first-person perspective as well as awareness of bodily sensations and felt senses. This discussion leads to the primary explanation of somatic awareness as the adaptive aspect of body awareness. This paper also delivers basic perspectives on soma from yoga philosophy and yoga physiology. Through the review, this paper verifies a concept of ‘somatic awareness’ implied in therapeutic approaches of yoga, which generally utilizes breathing and self-awareness, such as Viniyoga, mindfulness yoga, and mindfulness-based stress reduction (MBSR). Understanding this mind-body linking concept of somatic awareness and its adaptive aspects in yoga therapy, this paper explores the main arguments from neurophysiology, focusing on the brain reactions and influences arising from the somatic awareness process while practicing yoga and meditation. With its review of current research, this paper verifies the effective integration and interaction of bottom-up and top-down processes of self-regulation taking place in the triune brain structure. It therefore offers a better theoretical understanding of the self-regulating and healing effects of somatic awareness-based yoga and its application in diverse fields.