Traditionally you would learn to chant the yoga sutras etc. or mantras composed in Sanskrit before learning what they meant.
Sanskrit is a dead language, no people speak it anymore everybody learns it in translation to some extent, there is no living in a Sanskrit speaking country to become ever more away of nuance.
To understand it such that you could explore the deeper meanings of a text, the varied possible meaning of a single word (Sanskrit words are rife with multiple meanings that a poet and/or philosopher might have in mind) would take a lifetime of scholarship.
That said learning a language can be a rewarding, at University I remember being told that Sanskrit was the most philosophical of languages, even more so than German. I've been attracted to it ever since.
And it's old, Classical Sanskrit is around 2000 years old, Vedic Sanskrit, 2000 years further still, a thousand years older than Aramaic.
It's THIS old.
|The Pashupati Seal 2350-2000 BC discovered at the Mohenjo-daro archaeological site of the Indus Valley Civilization. Link|
Zoë Slatoff-Ponté's Yogavataranam then is Time-Travel.