During the period between the Mauryan and the Gupta eras (c. 200 BCE–500 CE) the Indic traditions of Hinduism, Buddhism and Jainism were taking form and coherent systems of yoga began to emerge.[50] This period witnessed many new texts from these traditions discussing and systematically compiling yoga methods and practices. Some key works of this era include the Yoga Sūtras of Patañjali, the Yoga-Yājñavalkya, the Yogācārabhūmi-Śāstra and the Visuddhimagga.

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)",[147] 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."[148]

^ James Mallinson, "Sāktism and Hathayoga," 28 June 2012. Archived 16 June 2013 at the Wayback Machine [accessed 19 September 2013] pgs. 2 "The earliest references to hathayoga are scattered mentions in Buddhist canonical works and their exegesis dating from the eighth century onwards, in which it is the soteriological method of last resort."
Yoga (/ˈjoʊɡə/;[1] Sanskrit: योग; pronunciation) is a group of physical, mental, and spiritual practices or disciplines which originated in ancient India. Yoga is one of the six orthodox schools of Hindu philosophical traditions.[2] There is a broad variety of yoga schools, practices, and goals[3] in Hinduism, Buddhism, and Jainism.[4][5][6] The term "yoga" in the Western world often denotes a modern form of Hatha yoga, consisting largely of the postures called asanas.
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The first Hindu teacher to actively advocate and disseminate aspects of yoga, not including asanas, to a western audience, Swami Vivekananda, toured Europe and the United States in the 1890s.[204] The reception which Swami Vivekananda received built on the active interest of intellectuals, in particular the New England Transcendentalists, among them Ralph Waldo Emerson (1803–1882), who drew on German Romanticism and philosophers and scholars like G. W. F. Hegel (1770–1831), the brothers August Wilhelm Schlegel (1767–1845) and Karl Wilhelm Friedrich Schlegel (1772–1829), Max Mueller (1823–1900), Arthur Schopenhauer (1788–1860), and others who had (to varying degrees) interests in things Indian.[205][206]
One of the earliest and most influential sub-traditions of Vedanta, is Advaita Vedanta, which posits nondualistic monism. This tradition emphasizes Jñāna yoga (yoga of knowledge), which is aimed at realizing the identity of one's atman (soul, individual consciousness) with Brahman (the Absolute consciousness).[255][256] The most influential thinker of this school is Adi Shankara (8th century), who wrote various commentaries and original works which teach Jñāna yoga. In Advaita Vedanta, Jñāna is attained on the basis of scripture (sruti) and one's guru and through a process of listening (sravana) to teachings, thinking and reflecting on them (manana) and finally meditating on these teachings (nididhyāsana) in order to realize their truth.[257] It is also important to develop qualities such as discrimination (viveka), renunciation (virāga), tranquility, temperance, dispassion, endurance, faith, attention and a longing for knowledge and freedom ('mumukṣutva).'[258] Yoga in Advaita is ultimately a "meditative exercise of withdrawal from the particular and identification with the universal, leading to contemplation of oneself as the most universal, namely, Consciousness".[259]
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",[54][note 4] just like traditional Hinduism regards the Vedas to be the ultimate source of all spiritual knowledge.[55][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.[58]

The spiritual sense of the word yoga first arises in Epic Sanskrit, in the second half of the 1st millennium BCE, and is associated with the philosophical system presented in the Yoga Sutras of Patanjali, with the chief aim of "uniting" the human spirit with the Divine.[24] The term kriyāyoga has a technical meaning in the Yoga Sutras (2.1), designating the "practical" aspects of the philosophy, i.e. the "union with the supreme" due to performance of duties in everyday life.[25]
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A yoga system that predated the Buddhist school is Jain yoga. But since Jain sources postdate Buddhist ones, it is difficult to distinguish between the nature of the early Jain school and elements derived from other schools.[89] Most of the other contemporary yoga systems alluded in the Upanishads and some Buddhist texts are lost to time.[90][91][note 12] https://buzzingoffer.tumblr.com/