Yeah I'm very curious to know how this Pain Reprocessing Therapy (PRT) from the article is done.
I haven't read the book you mentioned, but I'd say from my personal experience a physical yoga practice helps teach you to properly relax into what can sometimes be extreme discomfort. I remember when I first started practicing, whenever we'd get to long holds of poses (e.g. splits, pigeon, ustrasana), my body would start panicking and want me to come out of it immediately. But if you just keep bringing your awareness to the breath and meditate through the sensations that arise, the body starts relaxing and accepts where it's at.
I can imagine the PRT therapy probably includes some subset of the four foundations of mindfulness [1].
[1] https://en.wikipedia.org/wiki/Satipatthana