Great question. These two practices are an excellent compliment to one another. Yoga is based on the connection between movement and breath. Meditation is based on the connection between sensations/thoughts and breath. In this way you can practice mindfulness while you're practicing yoga.
In yoga you may keep returning to the experience of your body in the yoga pose, your breathing, or the teacher's voice. In this practice we're in one pose only (sitting, standing, or lying down) and keep returning to the breathing.