The early practice of Jain yoga seems to have been divided into several types, including meditation (dhyāna), abandonment of the body (kāyotsarga), contemplation (anuprekṣā), and reflection (bhāvanā).[256] Some of the earliest sources for Jain yoga are the Uttarādhyayana-sūtra, the Āvaśyaka-sūtra, the Sthananga Sutra (c. 2nd century BCE). Later works include Kundakunda's Vārassa-aṇuvekkhā (“Twelve Contemplations”, c. 1st century BCE to 1st century CE), Haribhadra's Yogadṛṣṭisamuccya (8th century) and the Yogaśāstra of Hemachandra (12th century). Later forms of Jain yoga adopted Hindu influences, such as ideas from Patanjali's yoga and later Tantric yoga (in the works of Haribhadra and Hemachandra respectively). The Jains also developed a progressive path to liberation through yogic praxis, outlining several levels of virtue called gunasthanas.

Modern yoga was created in what has been called the Modern Yoga Renaissance[216] by the blending of Western styles of gymnastics with postures from Haṭha yoga in India in the 20th century, pioneered by Shri Yogendra and Swami Kuvalayananda.[217] Before 1900 there were few standing poses in Haṭha yoga. The flowing sequences of salute to the sun, Surya Namaskar, were pioneered by the Rajah of Aundh, Bhawanrao Shrinivasrao Pant Pratinidhi, in the 1920s.[218] Many standing poses used in gymnastics were incorporated into yoga by Krishnamacharya in Mysore from the 1930s to the 1950s.[219] Several of his students went on to found influential schools of yoga: Pattabhi Jois created Ashtanga Vinyasa Yoga,[220] which in turn led to Power Yoga;[221] B. K. S. Iyengar created Iyengar Yoga, and systematised the canon of asanas in his 1966 book Light on Yoga;[222] Indra Devi taught yoga to many film stars in Hollywood; and Krishnamacharya's son T. K. V. Desikachar founded the Krishnamacharya Yoga Mandalam in Chennai.[223][224][225] Other major schools founded in the 20th century include Bikram Choudhury's Bikram Yoga and Swami Sivananda of Rishikesh's Sivananda Vedanta Schools of Yoga. Modern yoga spread across America and Europe, and then the rest of the world.[226][227]

The Yoga Yajnavalkya is a classical treatise on yoga attributed to the Vedic sage Yajnavalkya. It takes the form of a dialogue between Yajnavalkya and Gargi, a renowned philosopher.[162] The text contains 12 chapters and its origin has been traced to the period between the second century BCE and fourth century CE.[163] Many yoga texts like the Hatha Yoga Pradipika, the Yoga Kundalini and the Yoga Tattva Upanishads have borrowed verses from or make frequent references to the Yoga Yajnavalkya.[164] The Yoga Yajnavalkya discusses eight yoga Asanas – Swastika, Gomukha, Padma, Vira, Simha, Bhadra, Mukta and Mayura,[165] numerous breathing exercises for body cleansing,[166] and meditation.[167]
The tantra yoga practices include asanas and breathing exercises. The Nyingma tradition practices Yantra yoga (Tib. "Trul khor"), a discipline that includes breath work (or pranayama), meditative contemplation and other exercises.[192] In the Nyingma tradition, the path of meditation practice is divided into further stages,[193] such as Kriya yoga, Upa yoga, Yoga yana, Mahā yoga, Anu yoga and Ati yoga.[194] The Sarma traditions also include Kriya, Upa (called "Charya"), and Yoga, with the Anuttara yoga class substituting for Mahayoga and Atiyoga.[195]
Various yogic groups had become prominent in Punjab in the 15th and 16th century, when Sikhism was in its nascent stage. Compositions of Guru Nanak, the founder of Sikhism, describe many dialogues he had with Jogis, a Hindu community which practiced yoga. Guru Nanak rejected the austerities, rites and rituals connected with Hatha Yoga. He propounded the path of Sahaja yoga or Nama yoga (meditation on the name) instead.[204] The Guru Granth Sahib states:
The chronology of completion of these yoga-related Early Buddhist Texts, however, is unclear, just like ancient Hindu texts.[85][86] Early known Buddhist sources like the Majjhima Nikāya mention meditation, while the Anguttara Nikāya describes Jhāyins (meditators) that resemble early Hindu descriptions of Muni, Kesins and meditating ascetics,[87] but these meditation-practices are not called yoga in these texts.[88] The earliest known specific discussion of yoga in the Buddhist literature, as understood in modern context are from the later Buddhist Yogācāra and Theravada schools.[88]
Yoga is discussed in the ancient foundational Sutras of Hindu philosophy. The Vaiśeṣika Sūtra of the Vaisheshika school of Hinduism, dated to have been composed sometime between 6th and 2nd century BCE discusses Yoga.[note 14] According to Johannes Bronkhorst, an Indologist known for his studies on early Buddhism and Hinduism and a professor at the University of Lausanne, Vaiśeṣika Sūtra describes Yoga as "a state where the mind resides only in the soul and therefore not in the senses".[120] This is equivalent to pratyahara or withdrawal of the senses, and the ancient Sutra asserts that this leads to an absence of sukha (happiness) and dukkha (suffering), then describes additional yogic meditation steps in the journey towards the state of spiritual liberation.[120]
Ascetic practices (tapas), concentration and bodily postures used by Vedic priests to conduct yajna (sacrifice), might have been precursors to yoga.[note 9] Vratya, a group of ascetics mentioned in the Atharvaveda, emphasized on bodily postures which may have evolved into yogic asanas.[59] Early Samhitas also contain references to other group ascetics such as munis, the keśin, and vratyas.[67] Techniques for controlling breath and vital energies are mentioned in the Brahmanas (texts of the Vedic corpus, c. 1000–800 BCE) and the Atharvaveda.[59][72] Nasadiya Sukta of the Rig Veda suggests the presence of an early contemplative tradition.[note 10]
Many trainees like to cycle between the two methods in order to prevent the body from adapting (maintaining a progressive overload), possibly emphasizing whichever method more suits their goals; typically, a bodybuilder will aim at sarcoplasmic hypertrophy most of the time but may change to a myofibrillar hypertrophy kind of training temporarily in order to move past a plateau. However, no real evidence has been provided to show that trainees ever reach this plateau, and rather was more of a hype created from "muscular confusion".[clarification needed][citation needed]

There is no consensus on its chronology or specific origin other than that yoga developed in ancient India. Suggested origins are the Indus Valley Civilization (3300–1900 BCE)[44] and pre-Vedic Eastern states of India,[45] the Vedic period (1500–500 BCE), and the śramaṇa movement.[46] According to Gavin Flood, continuities may exist between those various traditions:

The spiritual sense of the word yoga first arises in Epic Sanskrit, in the second half of the 1st millennium BCE, and is associated with the philosophical system presented in the Yoga Sutras of Patanjali, with the chief aim of "uniting" the human spirit with the Divine.[24] The term kriyāyoga has a technical meaning in the Yoga Sutras (2.1), designating the "practical" aspects of the philosophy, i.e. the "union with the supreme" due to performance of duties in everyday life.[25]