Ajahn Nissarano gives an excellent talk about the five hindrances: sensual desire, aversion, sleepiness and drowsiness, restlessness and worry, doubt. Ajahn then gives a guided meditation with "to make peace with whatever we experience in the body and in our minds" as the intention.
We highly recommend listening to the Dhamma talk. However, if you wish to skip to the guided meditation section, it should begin around 37:45.
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