<P> During the period between the Mauryan and the Gupta eras (c. 200 BCE--500 CE) philosophical schools of Hinduism, Buddhism and Jainism were taking form and a coherent philosophical system of yoga began to emerge . </P> <P> Yoga as a philosophy is mentioned in Sanskrit texts dated to be completed between 200 BCE--200 CE . Kauṭilya's Arthashastra in verse 1.2. 10, for example, states that there are three categories of anviksikis (philosophies)--Samkhya (nontheistic), Yoga (theistic) and Cārvāka (atheistic materialism). </P> <P> Many traditions in India began to adopt systematic methodology by about first century CE . Of these, Samkhya was probably one of the oldest philosophies to begin taking a systematic form . Patanjali systematized Yoga, building them on the foundational metaphysics of Samkhya . In the early works, the Yoga principles appear together with the Samkhya ideas . Vyasa's commentary on the Yoga Sutras, also called the Samkhyapravacanabhasya (Commentary on the Exposition of the Sankhya Philosophy), describes the relation between the two systems . The two schools have some differences as well . Yoga accepted the conception of "personal god", while Samkhya developed as a rationalist, non-theistic / atheistic system of Hindu philosophy . Sometimes Patanjali's system is referred to as Seshvara Samkhya in contradistinction to Kapila's Nirivara Samkhya . </P> <P> The parallels between Yoga and Samkhya were so close that Max Müller says that "the two philosophies were in popular parlance distinguished from each other as Samkhya with and Samkhya without a Lord ." </P>

Who is believed to be the originator of yoga