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The book is divided into two sections. Part One contains five chapters: When I Lost My Sense; The Way Out Is In; Design Your Destiny; No Boundary, No Burden; ...And Now, Yoga. Part Two has four chapters: Body; Mind; Energy; Joy.<ref name=":0">{{Cite book|url=https://books.google.com/books?id=cqCiDQAAQBAJ&pg=PT12#v=onepage&q&f=false|title=Inner Engineering: A Yogi's Guide to Joy|last=Sadhguru|date=2016-12-12|publisher=Penguin Books Limited|isbn=9789386057587|language=en}}</ref>
The first chapter in Part One sets the scene with a brief autobiographical account of Sadhguru's life, the primary focus of which is to recount the spiritual experiences of the writer which later paved the path of his life; hence aptly titled When I Lost my Sense. The second chapter, The Way Out is in, talks about the need for a paradigm shift in the seeking of joy, which Sadhguru believes is the ultimate goal of all human beings. He prescribes looking within at the source of experience to seek joy as opposed to trying to find it in the outside surroundings. Similarly, he advises not to find a way out of suffering, but rather find it inwards.<ref name=":0" />
Part 2 of the book explores the concept of layers or sheaths in a human being's identity. There are three individual sections in this part, titled Body, Mind, and Energy which deal with the first three of these layers. Each section is further divided into subsections, with each subsection ending with a Sadhna (practice) section which outlines short spiritual practices to incorporate the philosophical point discussed.<ref name=":1">{{Cite news|url=http://isha.sadhguru.org/blog/sadhguru/spot/inner-engineering-yogis-guide-to-joy/|title=Inner Engineering: A Yogi's Guide to Joy – The Isha Blog|date=2016-09-22|work=The Isha Blog|access-date=2017-04-09|language=en-US}}</ref>
Part 2 ends with a brief section called Joy: The Beginning, which outlines the need of joy in human beings' lives and the aim of the author to bring joy within people's consciousness. The book ends with a glossary of terms and a brief introduction of Isha Yoga Foundation.
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