<Tr> <Td> </Td> <Td> This article contains Indic text . Without proper rendering support, you may see question marks or boxes, misplaced vowels or missing conjuncts instead of Indic text . </Td> </Tr> <P> Yoga (/ ˈjoʊɡə /; Sanskrit, योगः Listen) is a group of physical, mental, and spiritual practices or disciplines which originated in ancient India . There is a broad variety of yoga schools, practices, and goals in Hinduism, Buddhism, and Jainism . Among the most well - known types of yoga are Hatha yoga and Rāja yoga . </P> <P> The origins of yoga have been speculated to date back to pre-Vedic Indian traditions; it is mentioned in the Rigveda, but most likely developed around the sixth and fifth centuries BCE, in ancient India's ascetic and śramaṇa movements . The chronology of earliest texts describing yoga - practices is unclear, varyingly credited to Hindu Upanishads . The Yoga Sutras of Patanjali date from the first half of the 1st millennium CE, but only gained prominence in the West in the 20th century . Hatha yoga texts emerged around the 11th century with origins in tantra . </P> <P> Yoga gurus from India later introduced yoga to the West, following the success of Swami Vivekananda in the late 19th and early 20th century . In the 1980s, yoga became popular as a system of physical exercise across the Western world . Yoga in Indian traditions, however, is more than physical exercise; it has a meditative and spiritual core . One of the six major orthodox schools of Hinduism is also called Yoga, which has its own epistemology and metaphysics, and is closely related to Hindu Samkhya philosophy . </P>

When did yoga originate and where did it come from
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