A child abuse inquiry has heard sexual abuse was not uncommon in the Satyananda yoga movement.

A woman has told an enquiry she was sexually abused by Satyananda Sarswati - the man who founded the worldwide yoga movement with branches across the world including Australia.

In a statement to a royal commission examining child sexual abuse at a NSW Satyananda ashram, Bhakati Manning said she was abused by two senior swamis in ashrams in Australia and "by the spiritual founder of Satyananda yoga".

She said the abuse happened when she was 15 in Australia.

She was 17 when she travelled to the famous Munger ashram in India in 1976 to study with the respected yogi whom she had met in Australia.

Ms Manning said shortly after her arrival, he fondled her genitals and said something to the effect "this is our relationship, don't tell anyone".

He also taught her how to tie her dhoti - a traditional garment - so that it tucked between her legs.

He said something to the effect of "you have to protect what is mine from being seen", she said in her statement.

The world-renowned yoga master died in 2009.

Ms Manning, now aged 55, will continue her evidence on Thursday, the third day of a hearing where six witnesses have told of being abused.

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