A woman went to a yoga class on the Upper West Side and was groped by an instructor, a new lawsuit claims.

Melyssa Hurley claims an instructor at Equinox’s Pure Yoga on West 77th Street made “inappropriate adjustments” to her during a Vinyasa yoga class in 2018, according to her Manhattan Supreme court lawsuit.

While Hurley was in standing compass pose, instructor Isaac Pena allegedly put his hand on her butt and “pressed his penis and torso into Ms. Hurley’s lower buttocks and upper leg area,” the court documents say.

Then while she was in splits he allegedly groped “both of her buttocks cheeks with both of his hands,” the suit claims.

Finally, when she was in king pigeon pose Pena “came from behind her and pressed his penis into her hands,” the court papers allege.

Hurley left mid-class after the last groping and told the receptionist what had happened.

”Feeling violated and disgusted by the Company’s inaction, Ms. Hurley then terminated her membership with Pure Yoga after many years of membership,” the court documents say.

Despite Pure Yoga claiming Pena did nothing wrong, Hurley found out he was eventually fired, according to the court papers.

Hurley is suing Equinox, Pena and Pure Yoga for unspecified damages.

Pena did not immediately return a request for comment.

A rep with the company said, “Pure Yoga takes claims of this nature very seriously and maintains a zero-tolerance policy for any inappropriate behavior in our studios.”