Placing your left leg on the ground and right leg folded is considered to be sitting in bir asan. If your right leg is on the ground, it is not considered bir asan. It is a warrior pose, which is used to be tyaar bar tyaar (always ready)
Sri Guru Gobind Singh Sahib Ji would typically sit in bir asan when giving darshan to the Sangat. Guru Ji sat in bir asan when they recited Sri Jaap Sahib for the first time as well.
The Panj Pyare also sit in bir asan when preparing Amrit. The Panj Pyare place the ਪਤਾਸੇ into the sarbloh bowl. They stay in bir asan for the entire time the panj banian are being read.
Health benefits: When sitting for Raul, one can sit in bir asan if one's legs get tired while still maintaining satkaar of Sri Guru Granth Sahib Ji. Sitting in bir asan energizes and strengthens the body, improves balance and stability, and provides good circulation.
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ਸੰਤ ਕਾ ਮਾਰਗੁ ਧਰਮ ਕੀ ਪਉੜੀ ਕੋ ਵਡਭਾਗੀ ਪਾਏ ॥
The way of the Saints is the ladder of righteous living, found only by great good fortune.
Panj Pyare & Granthi Singh in Village Daudher. (Left to Right):
1)Bhai Jagroop Singh 2) Sant Kartar Singh Ji: They became the 12th Jathedar of Damdami Taksal.
3)Bhai Avtar Singh Ji: They were in love with the seva of cleaning shoes (joray) of the sangat and got the name "Jora Bhagat" by Sant Gurbachan Singh Ji. Sant Ji blessed them by saying that their every thought and breath would turn into simran.