According to Crangle, some researchers have favoured a linear theory, which attempts "to interpret the origin and early development of Indian contemplative practices as a sequential growth from an Aryan genesis",[note 4] just like traditional Hinduism regards the Vedas to be the ultimate source of all spiritual knowledge.[note 5] Thomas McEvilley favors a composite model where pre-Aryan yoga prototype existed in the pre-Vedic period and its refinement began in the Vedic period.
Yogaśataka a Jain work by Haribhadra Suri 6th century CE "With conviction, the lords of Yogins have in our doctrine defined yoga as the concurrence (sambandhah) of the three [correct knowledge (sajjñana), correct doctrine (saddarsana) and correct conduct (saccaritra)] beginning with correct knowledge, since [thereby arises] conjunction with liberation....In common usage this [term] yoga also [denotes the soul’s] contact with the causes of these [three], due to the common usage of the cause for the effect. (2, 4).
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Bhakti yoga is a devotional form of yoga, usually associated with Theistic Hinduism. It is therefore focused on faith, love for and worship of a personal God, such as Shiva, Shakti or Krishna. It is taught in key works like the Bhagavad Gita as one of the forms of yoga, and became a major current of Hindu yoga in the second half of the 1st millenium CE, when it was promoted and celebrated by south Indian poet saints like the Alvars and Nayanars. Forms of Bhakti yoga include the singing of hymns, stories and songs (Kirtan), dancing, prayer, bowing, and performing puja rituals.
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If the meaning of yoga is understood as the practice of nirodha (mental control), then its goal is "the unqualified state of niruddha (the perfection of that process)", according to Baba Hari Dass. In that context, "yoga (union) implies duality (as in joining of two things or principles); the result of yoga is the nondual state", and "as the union of the lower self and higher Self. The nondual state is characterized by the absence of individuality; it can be described as eternal peace, pure love, Self-realization, or liberation."
The origins of yoga are a matter of debate. There is no consensus on its chronology or specific origin other than that yoga developed in ancient India. Suggested origins are the Indus Valley Civilization (3300–1900 BCE) and pre-Vedic Eastern states of India, the Vedic period (1500–500 BCE), and the śramaṇa movement. According to Gavin Flood, continuities may exist between those various traditions: https://www.facebook.com/Buzzing-Offer-BusinessInvesting-650621182046830/