Yoga Sutra 2.2 "The practice of yoga reduces afflictions and leads to samadhi."
B.K.S. Iyengar has this to say in the commentary on this sutra: "The purpose of this yoga is to minimize all impediments to meditation and thus bring the intelligence to full, vibrant life."
I really like what Mr. Iyengar has to say in the commentary on this sutra. This practice really is "householder yoga", a practice to teach me how to live in the world with greater equanimity and joy. It is not a way to escape from the world. The long-time teachers and practitioners set good examples of what is possible here by maintaining practice and all the "householding" responsibilities with admirable grace and light-heartedness. It is definitely something to aspire to.