The history of yoga is vast and complex, spanning over five millennia. Its earliest roots can be traced back to ancient India, with archaeological evidence suggesting practices akin to yoga postures existed in the Indus Valley Civilization around 3000 BCE. The first systematic presentation of yoga is found in the Yoga Sutras of Patanjali, compiled around 200 CE. This foundational text outlines the Eight Limbs of Yoga (Ashtanga Yoga), providing a philosophical framework for ethical conduct (yamas and niyamas), physical postures (asanas), breath control (pranayama), sensory withdrawal (pratyahara), concentration (dharana), meditation (dhyana), and absorption (samadhi). Initially, yoga was primarily a spiritual discipline practiced by ascetics, focused on achieving liberation and higher states of consciousness rather than physical fitness.

Over centuries, yoga evolved through various schools and traditions. Hatha Yoga, which emerged around the 10th-11th century CE, brought a greater emphasis on physical postures and purification techniques (kriyas) to prepare the body for meditation. This branch laid the groundwork for many of the physical yoga styles prevalent today. During the medieval period, different tantric traditions also incorporated yogic practices, influencing its development and diversification. The texts like the Hatha Yoga Pradipika and Gheranda Samhita are crucial for understanding this phase, describing numerous asanas, pranayamas, mudras, and bandhas. For a long time, yoga remained largely confined to India and select spiritual circles.

Yoga's introduction to the Western world gained significant momentum in the late 19th and early 20th centuries. Swami Vivekananda's lectures in Chicago in 1893 at the Parliament of the World's Religions played a pivotal role in bringing yogic philosophy to a broader audience. Later, figures like Paramahansa Yogananda, with his book "Autobiography of a Yogi," and B.K.S. Iyengar, K. Pattabhi Jois, and T.K.V. Desikachar, who taught specific physical lineages (Iyengar, Ashtanga, Viniyoga respectively), popularized the physical practice of yoga globally. They adapted traditional techniques for modern practitioners, emphasizing alignment, breath-movement synchronization, and therapeutic applications. This era saw the shift from yoga primarily as an ascetic spiritual practice to a more accessible health and wellness discipline.

Today, yoga has transformed into a global phenomenon, encompassing a vast array of styles and approaches. From the dynamic Vinyasa flow and structured Iyengar yoga to the restorative Yin yoga and heated Bikram, there is a style to suit almost every preference and physical capability. While many practitioners are drawn to yoga for its physical benefits—increased flexibility, strength, and balance—a significant number also embrace it for stress reduction, mental clarity, and spiritual growth. The scientific community has increasingly studied yoga, validating its positive effects on mental health, cardiovascular health, chronic pain management, and overall quality of life. The practice continues to evolve, integrating modern scientific understanding with its ancient wisdom, making it a timeless and adaptable tool for personal development and well-being in the modern age. The growth of online platforms, studios, and dedicated retreats signifies its enduring appeal and adaptability.