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Yoga
literally means union. Most people consider this union to be between the body, mind and the soul, but according to spiritual tradition, it is a union between the individual consciousness and Universal Consciousness.

A group of ancient spiritual practices, Yoga has become popular in the Western world where it is associated with postures or “Asanas” (Hatha Yoga). Truly speaking, Yoga refers to a certain state of consciousness as well as to methods that help one reach that goal or state of union with the divine.
Brief History Of India

The earliest written accounts of Yoga appear in the Rig Veda, which began to be codified between 1500 and 1200 BC. The first Yoga text dates to around the 2nd century BC by Patanjali, and prescribes adherence to "eight limbs" (the sum of which constitute "Ashtanga Yoga") to quiet one's mind.

Over time, different schools of thought have emerged. Yoga includes Bhakti Yoga, or components of devotional love, selfless work, as in Karma Yoga, knowledge, as in Jnana Yoga, or the above mentioned eight limbed discipline with an emphasis on meditation as in Raja Yoga. It needs to be mentioned here that these different paths are not mutually exclusive.

The common point between all these forms of Yoga are Concentration or Dharana and Meditation or Dhyana. According to the yogic tradition, sustained single-pointed concentration gradually but surely leads to meditation. It is also essential to have a guru (literally meaning one who leads from darkness to light) or a teacher.
An individual takes up different paths in accordance to his nature.

KARMA YOGA, path of detached action
This path chosen primarily by those of an outgoing nature. It purifies the heart by teaching one to act selflessly, without thought of gain or reward. By detaching oneself from the fruits of one’s actions, and then offering them up to God, teaches one to sublimate the ego. To achieve this, it is helpful to keep the mind focused by repeating a mantra while engaged in any activity.

BHAKTI YOGA, path of devotion
This path appeals particularly to those of an emotional nature. The Bhakti Yogi is chiefly motivated by the power of love. He sees God as the embodiment of love. Through prayer, worship and rituals, he surrenders himself to God.  He
Brief History Of India
channels and transmutes his emotions into unconditional love or devotion. Chanting or singing the praises of God form a large part of Bhakti Yoga.

RAJ YOGA, path of Physical and Mental Control
The school of Raja Yoga prescribes to a particular meditative system, which focuses on the analysis and control of the field of human consciousness. Raja Yoga is often called the Royal or Kingly road. It offers a comprehensive method for controlling the waves of thought. It does this by turning the mental and physical energy into spiritual energy. Raja Yoga is also called Ashtanga Yoga (referring to the eight limbs) that leads to absolute mental control.
The chief practice of Raja Yoga is meditation. It includes all the other methods that help in controlling body, energy, senses and mind.

Hatha Yoga was designed to provide a form of physical purification and training that would prepare aspirants for the higher training that or Raja Yoga. A seminal part of Raja Yoga, Hatha Yoga attaches a lot of importance to the perfect physical form, believing it to be a way of attaining spiritual perfection. And to this end it takes the help of Pranayama (breath-control exercises) and Mudras or hand gestures. The Hatha Yogi uses techniques of relaxation. Besides this, it also uses practices such as Yama, Niyamas, Bandhas or energy lock, to gain control of the physical body and the subtle life force called Prana, when body and energy are under control meditation comes naturally. Although it has become popular as a secular, non-spiritual practice, traditionally, it included moral disciplines, physical exercises (e.g., postures and breath control), and meditation.

It would be only proper to mention the eight limbs of Yoga practice as expounded in Patanjali’s Yoga Sutra, one of the most authoritative texts on Ashtanga Yoga. It would be interesting to note that only one of these talks about postures or Asanas, so synonymous with Yoga !

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