The former "handmaiden" of a yoga master has apologised for her violent treatment of children.

The "handmaiden" of a sexually abusive yoga master had sex with a 14-year-old boy only because her guru ordered her to, an inquiry has heard.

The woman, known as Shishy, was the handmaiden, sexual partner and second-in-charge of Swami Akhandananda at the Satyananda Yoga Ashram on NSW's Central Coast during the 1970s and 1980s.

Shishy told the child abuse royal commission on Friday that starting a sexual relationship with the boy, codenamed APQ, when she was 25 was "the most shameful thing in my life".

She said she was instructed by Akhandananda to start initiating the boy the same way the guru had been having sex with under-age girls on the ashram.

"It's one of the things I really resent Akhandananda for," Shishy said.

However, the commission heard Shishy continued a sexual relationship with the boy after she left the ashram in 1985.

The pair later had a child together and the boy lived in her house.

Under questioning, Shishy, now in her 50s, said she did not want to start the relationship with APQ and did so only on Akhandananda's orders.

But in 1989, after doing a "mind mash program", she realised she was in love with him.

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Abusive guru's handmaiden breaks down