In a glass observation dome on a medical station in the Polis Massa Belt, Yoda speaks to The Force as he has done for a long time. The Force answers him with the voice of Qui-Gon Jinn.
Qui-Gon Jinn tells Yoda not to blame himself for what happened but Yoda insists that he had been too old, too rigid, he had not noticed the changes in the galaxy...
Yoda had not let The Order change with it, he never learnt the full depth of The Force. Qui-Gon defends the old Master. He also suggests that Yoda will have a lot of time to learn the ways of the Force and - with his help - he will be able to join with The Force and yet retain his consciousness and in time, maybe even physical form.
However, this sounds to Yoda like the idea of eternal life. Qui-Gon agrees and reminds him that eternal life is exactly what the Sith are looking for, but they'll never find it...
Qui-Gon states: "...by the release of self, not the exaltation of self. It comes through compassion, not greed. Love is the answer to the darkness."
Yoda admits he underestimated Qui-Gon's potential as a Jedi Master.
So Yoda decides to learn from Qui-Gon. Bowing, he declares, "Qui-Gon, your apprentice, I gratefully become."
Chapter 12: The Birth of an Empire... and A New Hope