Freedom comes with discipline.
Two of the ethical observances of yoga on the relationship to ourselves, the niyamas, santosha, contentment, and tapas, discipline, are found next to each other in Patanjali's account in the Yoga Sutras (verses 2.42 and 2.43), which at first may seem controversial. But think about it: in order to enjoy physical freedom in our bodies, we need to maintain them healthy, and therefore exercise in a conscious way appropriate to our constitution, eat moderately, rest adequately. In order to enjoy psychological freedom, we need to practice letting go of mental patterns that do not serve our happiness, for example dwelling on the past and self-blame, replace negative thought patterns with positive ones, and so on. Discipline is necessary in changing habits that we know no longer serve their purpose (if they ever did, at least in part).