Yes, In yoga nidra, you lie on your back, with your eyes closed, and do a guided relaxation. You imagine you are sinking into the deepest level of sleep, and your mind is suspended there.
Yoga nidra works because it changes something in your brain. It turns out that sleep is a state in which your brain is most active, in a process called "synaptic pruning." Synapses are connections between neurons. The pruning process creates new synapses and eliminates unnecessary ones, and some of these changes take place while you are awake.
In yoga nidra, your brain is getting the same kind of pruning you get when you are asleep, but in a guided and conscious way. You don't have to fall asleep. You don't have to move out of your deep sleep. You can stay where you are, with your eyes closed.
That's different from ordinary sleep. In ordinary sleep, your brain does most of its pruning while you are awake, or during REM sleep, when the dreaming occurs. You don't have to do anything special to get REM sleep, but you do have to do something special to get Yoga Nidra.
Yoga nidra has three benefits. It is very relaxing. It will help with insomnia. And it will lower your stress level.