Finding Yoga Beach is easy enough if you know what you’re looking for, you can walk to it along the coastline from either of its neighbouring beaches, it’ll take you 15 minutes from Salada or 30 minutes from Gracio.
If you're driving simply follow the road from San Antonio to Cala Salada and turn off at the signs pointing to the Punta de sa Galera, you can park at the base of the point above the beach.
From there a clear hiking trail with stone steps and rope handrails leads past boat huts and slipways to the little cove. If you want to explore around to the rocky ledges, instead of trying to rock climb around the cliff, just walk back from the beach down the trail next to the large stone boat garage, this will lead you back to the road walk left along it for a few minutes and you’ll find a hiking trail through the cliff until you emerge out amongst the rocks, from there you can explore the stone terraces all you wish.