Yoga literally means the union of the two principal entities. The origin of yoga is found in the ‘Yogasutra’ of Patanjali believed to have been written in the 1000 BC. Yogic techniques control the body, mind and sense organs.
Freedom could be attained by practicing self-control (Yama), observation of rules (niyama), fixed postures (asana), breath control (pranayama), choosing an object (pratyahara) and fixing the mind (dharna), concentrating on the chosen object (dhyana) and complete dissolution of self, merging the mind and the object (samadhi). Yoga admits the existence of God as a teacher and guide.