Yoga philosophy is one of the six major important schools of Hindu philosophy, though it is only at the end of the first millennium CE that Yoga is mentioned as a separate school of thought in Indian texts, distinct from Samkhya. Ancient, medieval and modern literature often simply call Yoga philosophy Yoga. A systematic collection of ideas of Yoga is found in the Yoga Sutras of Patanjali, a key text of Yoga which has influenced all other schools of Indian philosophy.
The metaphysics of Yoga is Samkhya's dualism, in which the universe is conceptualized as composed of two realities: Puruṣa (witness-consciousness) and Prakṛti (nature). Jiva (a living being) is considered as a state in which puruṣa is bonded to Prakṛti in some form, in various permutations and combinations of various elements, senses, feelings, activity and mind. During the state of imbalance or ignorance, one or more constituents overwhelm the others, creating a form of bondage. The end of this bondage is called liberation, or mokṣa, by both the Yoga and Samkhya schools of Hinduism, and can be attained by insight and self-restraint.