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You cannot fully understand Taoism without practicing Tai Chi. This is the big mistake a lot of theologians in the west make.
Lao Tsu taught that all straining, all striving are not only vain but counterproductive. One should endeavor to do nothing (Wu-wei). But what does this mean? It means not to literally do nothing, but to discern and follow the natural forces -- to follow and shape the flow of events and not to pit oneself against the natural order of things. First and foremost to be spontaneous in ones actions.
In this sense the Taoist doctrine of Wu-wei can be understood as a way of mastering circumstances by understanding their nature or principal, and then shaping ones actions in accordance with these. This understanding has also infused the approach to movement as it is developed in Tai Chi Chuan.
In a very real sense one can consider Tai Chi Chuan to be a physical expression and manifestation of the principles and philosophy of Taoism.
here you go http://www.amazon.com/Art-Taoist-Tai-Chi/dp/B0006PRM6O/ref=sr_1_6?ie=UTF8&s=video&qid=1265763753&sr=8-6
http://www.amazon.com/Philosophy-Tai-Chi-Chuan-Confucius/dp/1583942637/ref=sr_1_12?ie=UTF8&s=books&qid=1265763753&sr=8-12
good luck
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