Hatha yoga in the context of "Ardha Matsyendrasana"

Yoga (UK: /ˈjəʊɡə/, US: /ˈjoʊɡə/; Sanskrit: योग 'yoga' [joːɡɐ] ; lit. 'yoke' or 'union') is a group of physical, mental, and spiritual practices or disciplines that originated with its own philosophy in ancient India, aimed at controlling body and mind to attain various soteriological goals (moksha), as practiced in the Hindu, Jain, Sikh, and Buddhist traditions.

Yoga may have pre-Vedic origins, but is first attested in the early first millennium BCE. It developed as various traditions in the eastern Ganges basin drew from a common body of practices, including Vedic elements. Yoga-like practices are mentioned in the Rigveda and a number of early Upanishads, but systematic yoga concepts emerge during the fifth and sixth centuries BCE in ancient India's ascetic and Śramaṇa movements, including Jainism and Buddhism. The Yoga Sutras of Patanjali, the classical text on Hindu yoga, samkhya-based but influenced by Buddhism, dates to the early centuries of the Common Era. Hatha yoga texts began to emerge between the ninth and 11th centuries, originating in tantra.

Lotus position or Padmasana (Sanskrit: पद्मासन, romanized: padmāsana) is a cross-legged sitting meditation pose from ancient India, in which each foot is placed on the opposite thigh. It is an ancient asana in yoga, predating hatha yoga, and is widely used for meditation in Hindu, Tantra, Jain, and Buddhist traditions.

Variations include easy pose (Sukhasana), half lotus, bound lotus, and psychic union pose. Advanced variations of several other asanas including yoga headstand have the legs in lotus or half lotus. The pose can be uncomfortable for people not used to sitting on the floor, and attempts to force the legs into position can injure the knees.

An āsana (Sanskrit: आसन) is a body posture, originally and still a general term for a sitting meditation pose, and later extended in hatha yoga and modern yoga as exercise, to any type of position, adding reclining, standing, inverted, twisting, and balancing poses. The Yoga Sutras of Patanjali define "asana" as "[a position that] is steady and comfortable". Patanjali mentions the ability to sit for extended periods as one of the eight limbs of his system. Asanas are also called yoga poses or yoga postures in English.

The 10th or 11th century Goraksha Sataka and the 15th century Hatha Yoga Pradipika identify 84 asanas; the 17th century Hatha Ratnavali provides a different list of 84 asanas, describing some of them. In the 20th century, Indian nationalism favoured physical culture in response to colonialism. In that environment, pioneers such as Yogendra, Kuvalayananda, and Krishnamacharya taught a new system of asanas (incorporating systems of exercise as well as traditional hatha yoga). Among Krishnamacharya's pupils were influential Indian yoga teachers including Pattabhi Jois, founder of Ashtanga (vinyasa) yoga, and B.K.S. Iyengar, founder of Iyengar yoga. Together they described hundreds more asanas, revived the popularity of yoga, and brought it to the Western world. Many more asanas have been devised since Iyengar's 1966 Light on Yoga which described some 200 asanas. Hundreds more were illustrated by Dharma Mittra.

Pranayama (Sanskrit: प्राणायाम, "Prāṇāyāma") is the yogic practice of controlling the breath in Hinduism. It is described in Hindu texts such as the Upanishads and the Bhagavad Gita; in the Yoga Sutras of Patanjali, it is one of the eight limbs of yoga. In classical yoga, the breath is associated with the life energy or prana. Later, in Hatha yoga texts, it meant the complete suspension of breathing. The pranayama practices in modern yoga as exercise differ from those of the Hatha yoga tradition, often using the breath in synchrony with movements.

Dhanurasana (Sanskrit: धनुरासन, romanized: Dhanurāsana, lit. 'Bow pose') is a back bending asana in hatha yoga and modern yoga as exercise.

Tree pose or Vrikshasana (Sanskrit: वृक्षासन, romanized: vṛkṣāsana) is a balancing asana. It is one of the very few standing poses in medieval hatha yoga, and remains popular in modern yoga as exercise. The pose has been called iconic of modern yoga; it is often featured in yoga magazines, and practised in public displays such as for the International Day of Yoga.

The standing asanas are the yoga poses or asanas with one or both feet on the ground, and the body more or less upright. They are among the most distinctive features of modern yoga as exercise. Until the 20th century there were very few of these, the best example being Vrikshasana, Tree Pose. From the time of Krishnamacharya in Mysore, many standing poses have been created. Two major sources of these asanas have been identified: the exercise sequence Surya Namaskar (the salute to the sun); and the gymnastics widely practised in India at the time, based on the prevailing physical culture.

The origin of standing asanas has been controversial since Mark Singleton argued in 2010 that some forms of modern yoga represent a radical reworking of hatha yoga, in particular by adding standing asanas and transitions (vinyasas) between them, and by suppressing most non-postural aspects of yoga, rather than a smooth continuation of ancient traditions. These changes enabled yoga to be practised as a flowing sequence of movements rather than as static poses, and in turn this allowed sessions to focus on aerobic exercise.

Manibhai Haribhai Desai (1897–1989), known as (Shri) Yogendra was an Indian yoga guru, author, poet, researcher and was one of the important figures in the modern revival and transformation of hatha yoga, both in India and United States. He was the founder of The Yoga Institute, the oldest organized yoga centre in the world, established in 1918. He is often referred as the Father of Modern Yoga Renaissance. He was one of the figures responsible for reviving the practice of asanas and making yoga accessible to people other than renunciates.

Yogendra innovated modern methods to teach yoga, initiating research in yoga, particularly in the field of yoga therapy. He authored several books on yoga and started the journal Yoga in 1933. He was also a poet, writing under the pen name 'Mastamani'. He translated Rabindranath Tagore's Gitanjali into Gujarati.