The history of yoga is divided into four broad categories:

1. Vedic
2. Pre-classical
3. Classical
4. Post-classical

VEDIC

The ancient texts of Vedas are the oldest scriptures in the world. The Sanskrit word Veda means "knowledge" and rig means "praise". Thus the Rig Vedas are a collection of hymns that are in praise of a higher power. Other three Vedas are Yajur Veda (knowledge of sacrifice), Sama Veda (Knowledge of chants), and Atharvana Veda (knowledge of Atharvana).

Vedic Yoga can also be called Archaic Yoga, as people believed in a ritualistic way of life. Rituals, sacrifices, and ceremonies existed because they were considered a means of connection to the spirit world. People turned to rishis or Vedic yogis for illumination. Vedic masters were blessed with a vision of the supreme reality and their hymns speak of their marvelous intuitions.

PRE-CLASSICAL

This covers an extensive period of approximately 2,000 years until the second century. Gnostic texts, called the Upanishads, that spoke in detail about the self and ultimate reality appeared. There are approximately 200 Upanishads. One of the most remarkable yoga scriptures is the Bhagavad-Gita, which was composed around 500 B.C.

The central teaching of the Gita is, to do ones' duty and not expect the fruit of the action.

In 1200 BC the great teacher Rishaba, who was the exponent of the tradition of Jainism, also emphasized on efforts dedicated to the liberation of the spirit.

It was during this time, that Yoga found its way into Buddhism too; Lord Buddha was the first Buddhist to study Yoga. Buddhist scriptures lay stress on meditation and physical postures, which are Yogic processes.

The history of yoga is divided into four broad categories:

1. Vedic Yoga
2. Preclassical Yoga
3. Classical Yoga
4. Postclassical Yoga

VEDIC YOGA

The ancient texts of Vedas are the oldest scriptures in the world. The Sanskrit word Veda means "knowledge" and rig means "praise". Thus the Rig Vedas are a collection of hymns that are in praise of a higher power. Other three Vedas are Yajur Veda (knowledge of sacrifice), Sama Veda (Knowledge of chants), and Atharvana Veda (knowledge of Atharvana).

Vedic Yoga can also be called Archaic Yoga, as people believed in a ritualistic way of life. Rituals, sacrifices, and ceremonies existed because they were considered a means of connection to the spirit world. People turned to rishis or Vedic yogis for illumination. Vedic masters were blessed with a vision of the supreme reality and their hymns speak of their marvelous intuitions.

PRE CLASSICAL YOGA

This covers an extensive period of approximately 2,000 years until the second century. Gnostic texts, called the Upanishads, that spoke in detail about the self and ultimate reality appeared. There are approximately 200 Upanishads. One of the most remarkable yoga scriptures is the Bhagavad-Gita, which was composed around 500 B.C.

The central teaching of the Gita is, to do ones' duty and not expect the fruit of the action.

In 1200 BC the great teacher Rishaba, who was the exponent of the tradition of Jainism, also emphasized on efforts dedicated to the liberation of the spirit.

It was during this time, that Yoga found its way into Buddhism too; Lord Buddha was the first Buddhist to study Yoga. Buddhist scriptures lay stress on meditation and physical postures, which are Yogic processes.

CLASSICAL

In the second century C.E, Patanjali composed the yoga sutras, which consists of 195 aphorisms. They expound the Raja yoga or the eight-fold path, which are meant to be memorized, as it is not in written form. The earliest known Sanskrit commentary on the sutras is Yoga- Bhashya (speech on Yoga), by Vyasa in the fifth century.

Patanjali believed that each individual is composed of matter (prakriti) and spirit (purusha). He advocated that yoga would restore the spirit to its absolute reality, a teaching that saw a shift from non dualism to dualism.

POSTCLASSICAL This period in yoga affirms the teachings of Vedanta, that there is ultimate unity in everything in the cosmos. Vedanta is the philosophical system based on the teachings of the Upanishads.

The earlier eras saw yogis laying emphasis only on meditation and contemplation. Their goal was to shed their mortal coils and merge with the infinite; but, during this period, yogis began to probe the hidden powers of the body. Yoga masters designed advanced yogic practices that would rejuvenate the body and prolong its life. This led to Hatha Yoga, which is presently practised throughout the world.

What is Hatha Yoga?

The yoga of postures or asanas is called Hatha Yoga. It broadly consists of asanas (body postures), pranayama (body techniques) relaxation and cleansing techniques. The main goal of Hatha yoga is to facilitate concentration and meditation, which is actually a preparation for achieving the final stage of yoga, called Samadhi.

Along with Hatha yoga, Tantra yoga also developed in this period. Tantra yoga is the path of rituals and mantra or mystic syllables.

CLASSICAL YOGA

In the second century C.E, Patanjali composed the yoga sutras, which is composed of 195 aphorisms. They expound the Raja yoga or the eight-fold path, which are meant to be memorized, as it was not in written form. The earliest known Sanskrit commentary on the sutras is Yoga- Bhashya (speech on Yoga), by Vyasa in the fifth century.

Patanjali believed that each individual is composed of matter (prakriti) and spirit (purusha). He advocated that yoga would restore the spirit to its absolute reality, a teaching that saw a shift from non dualism to dualism.

POSTCLASSICAL YOGA This period in yoga affirms the teachings of Vedanta, that there is ultimate unity in everything in the cosmos. Vedanta is the philosophical system based on the teachings of the Upanishads.

The earlier eras saw yogis laying emphasis only on meditation and contemplation. Their goal was to shed their mortal coils and merge with the infinite But, during this period, yogis began to probe the hidden powers of the body. Yoga masters designed advanced yogic practices that would rejuvenate the body and prolong its life. This led to Hatha Yoga, which is presently practised throughout the world.

What is Hatha Yoga?

The yoga of postures or asanas is called Hatha Yoga. It broadly consists of asanas (body postures), pranayama (body techniques) relaxation and cleansing techniques. The main goal of Hatha yoga is to facilitate concentration and meditation, which is actually a preparation for achieving the final stage of yoga, called Samadhi.

Along with Hatha yoga, Tantra yoga also developed in this period. Tantra yoga is the path of rituals and mantra or mystic syllables.

MODERN YOGA

The history of modern yoga began with the Parliament of Religions held in Chicago in 1893. Modern yoga arrived in the United States during the late 1800's. It was at this congress that Swami Vivekananda, a disciple of saint Ramakrishna, made a lasting impression on the American public. He addressed the gathering as, 'Brothers and Sisters of America ". Through these words he captured millions of hearts in the United States and attracted many students to yoga and Vedanta.

After Swami Vivekananda, the next popular teacher in the west was Paramahansa Yogananda, who arrived in Boston in 1920. He established the self-realization fellowship in Los Angeles. He left his mortal frame in 1952; but continues to have a world wide following. He wrote the famous "Autobiography of a Yogi". His teachings are called the yogoda teachings.

Paul Brunton, a former journalist-editor and author of the famous book, "A Search in Secret India', introduced Ramana Maharishi to western seekers.

Since the early 1930's and till his death in 1986, Jiddu Krishnamurthy attracted western minds with his philosophical thoughts. He expounded the wisdom of Jnana yoga and drew large gatherings. He has followers all over the world.

In the mid_1960's, Maharishi Mahesh Yogi introduced Transcendental Meditation to the west. He was associated with the Beatles.

In 1965, Shrila Prabhupada came to the United States and founded the International Society for Krishna Consciousness (ISKON). He spread a movement based on Bhakthi Yoga (yoga of devotion).

One of the most prominent yoga gurus was the Himalayan master, Swami Sivananda. He served as a doctor in Malaysia and opened yoga centers in Europe and America. He wrote more than 200 books on yoga and philosophy. His famous disciple was Swami Vishnudevananda, who wrote the book, "Complete Illustrated Book of Yoga".

Other masters are Swami Satchitanandaa, Swami Sivananda Radha, Swami Satyananda and Swami Chidananda.

Bhagawan Rajneesh, also known as Osho, was a widely popular guru in the 1970's and 1980's.

The great Sri Krishnamacharya taught the Viniyoga Hatha Yoga. His son, Desikar and Desikar's brother-in-law, B.K.S.Iyengar continue the tradition.

Sathya Sai Baba, whom millions of people all over the world throng to see, is the living yoga master of today; he is called the 'man of miracles'.

Land of Yoga -India

India is rightly called the land of yoga. All systems of yoga developed from this ancient land. We came to know of yoga from Saint Patanjali who gave `yoga-sutras` in the 2nd century. The yoga sutras were not in written form and it was meant to be memorized. Sage Patanjali defined yoga as '' chitta-vritti-nirodh''. Some define yoga as union of individual consciousness to cosmic consciousness.

Swami Sivananda says, 'Yoga is a way of life'. This means any individual can benefit from the practice of yoga to achieve physical, mental and spiritual well-being. Yogic practices confer, on the practitioner, immense mind and body control.

Systems of Yoga

Here are four systems of Yoga. They are

1. Jnana yoga
2. Karma yoga
3. Raja yoga
4. Bhakthi yoga

According to Saint Patanjali, there are eight principles to be followed in the system of yoga.

1. Yama: Anyone practicing yoga should adhere to the values of non-violence, truth, honesty, celibacy and show restraint.
   
   
2. Niyama: They are observances to be followed by the yoga practitioner like contemplation, contentment, penance and study of scriptures.
   
   
3. Asanas: These physical exercises help in concentration of the mind.
   
   
4. Pranayama: It involves breathing exercises that help the aspirant to gain control of prana or life energy.
   
   
5. Pratyahara: It is a stage of sense withdrawal. The aspirant's mind is focused on the internal object of concentration and has a feeling of detachment from the outside world.
   
   
6. Dharana: In this stage, the aspirant is able to concentrate on one subject or an idea.
   
   
7. Dhyana: It is the stage of steady concentration on one subject or an idea.
   
   
8. Samadhi: This is the stage where the individual consciousness merges with the divine consciousness.