When Gerard Hanson of New York City planned a road trip to visit a friend in Maine, he was excited to bring his puppy, Charles, along. But the trip did not go smoothly. “Charles got carsick,” explains Hanson. “Then my friend didn’t want me leaving him at his house alone for more than an hour or two, so my plans for different activities were more or less ruined.”

Dr. Louise Murray, DVM, director of medicine for the ASPCA’s Bergh Memorial Animal Hospital in New York City, has heard stories like Hanson’s before. “Deciding to travel with a dog is a commitment. If the idea of making sacrifices on vacation doesn’t appeal to you, leave your pet at home,” she cautions. Below, Dr. Murray offers advice for those who do decide that the company is worth the extra effort.

For thousands of years, people have positioned themselves in poses like The Lotus, Salute to the Sun and Downward-facing Dog in an effort to achieve inner peace and improve physical fitness. These individuals practice the ancient art of yoga, whose benefits are widely touted.

Only recently, though, have some devotees come to realize that yoga and its resulting benefits can be extended to their canine companions. That’s why increasing numbers of people bring their pooch to yoga -- or as it’s more popularly known, doga.