Legend says that the "Shiva Sutras" were revealed to Panini by Lord Shiva. The story goes that Panini wasn’t a very good student and was sent to the mountains to meditate. Shiva was impressed by his dedication and came to dance before him. Inspired by this display, Panini wrote the Shiva Sutras.
Additionally, the collection of 77 aphorisms that Kashmir Shaivism is based on are also known as the "Shiva Sutras of Vasugupta." The legend for this collection states that Lord Shiva came to Vasugupta in a dream and told him where to find the teachings.
Yoga practitioners may use these aphorisms to deepen their understanding of a mystical tradition that can supplement their yoga practice with spiritual aspects.