Автор книг о самопомощи, самая известная из которых полу-автобиографический роман «Путь мирного воина» (1980).
Будучи победителем чемпионата мира по батуту в 1964 году в Лондоне, Дэн был капитаном сборной Университета Калифорнии по гимнастике, а также работал инструктором по гимнастике в Стенфордском университете и профессором физического образования в Колледже Оберлина.
В молодости Дэн Миллмэн занимался современными танцами и айкидо, позднее он стал изучать различные виды йоги и боевых искусств, путешествуя по всему миру, что стало результатом его становления в качестве духовного и мотивационного оратора и автора.
Библиография Дэна Миллмэна состоит из таких книг, как «Фитнес всего тела: ум, дух и тело» (1979), «Святое путешествие мирного воина» (1991), «Ничего обычного», «Повседневная просветленность», «Законы духа: история трансформации»
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