"The next time a friend says I made a mistake... you can say to them that is good, if they hadn't made that mistake perhaps you nor I would be here right now" - stephen hawking
Each mistake is organized and calculated and rebalanced by the universe naturally. We notice this after looking back at our lives and see how interrelated everything is. There fore, there are no mistakes... we can forgive ourselves and live on from this moment with the freedom to chose the best attitude and action in each moment. So we can steer but we can't stop moving, which can get dizzy sometimes... ;-)
So while practicing yoga forgive yourself immediately allowing each moment to be pure and as it is and as it should be... allowing for the full fruition of each pose as it is today.