Yoga Nidra is exactly the kind of practice you want for chilling out. It's a guided meditation performed lying down, usually for 20–45 minutes, in which you progressively relax your body while keeping a little awareness awake.
The Sanskrit Yoga Nidra (योगनिद्रा) means yogic sleep. The interesting part is that you're not trying to fall asleep. You're allowing your body to become deeply relaxed while your awareness remains present, sometimes approaching the threshold of sleep.
The structure below is especially associated with the modern Satyananda Yoga Nidra method; other traditions use different sequences.
2–3 minutes
Lie on your back, arms comfortably at your sides, palms upward. Close your eyes. Feel the ground supporting you. No effort to achieve anything.
1 minute
Form a simple intention, such as I am at ease, or I can meet experience without resistance. Repeat it inwardly.
5–8 minutes
Move attention systematically through the body: right thumb, fingers, palm, arm, shoulder; then the left side, legs, torso, face. You don't need to move anything. Just notice each location.
3–5 minutes
Observe the natural breath, especially the abdomen rising and falling. Sometimes count breaths backward from 27 to 1. No forced breathing.
3–5 minutes
Explore pairs of sensations: heaviness/lightness, warmth/coolness, tension/ease. Notice that experiences arise and pass without needing to react to them.
5–10 minutes
Follow guided images: a dark sky, a flame, a temple, a doorway, a still lake, the sun rising. Observe whatever associations arise. The imagery is an optional part of the practice, not a requirement to believe in a particular spiritual interpretation.
2–3 minutes
Return to your intention. Feel your breath, your body, the floor. Slowly move your fingers and toes, then open your eyes.
Imagine a small steady flame in darkness. Notice its movement, brightness, and warmth. Allow attention to settle on one image.
Imagine perfectly still water. A ripple appears, travels outward, and disappears. Observe thoughts and sensations similarly, without following them.
Picture a mature tree with deep roots, a solid trunk, and branches moving in the wind. Experience the contrast between movement and stability.
Watch darkness gradually give way to daylight. Observe the increasing detail and clarity of the imagined landscape.