Yoga (Sanskrit, Pāli: योग, yoga) is a physical, mental, and spiritual discipline, originating in ancient India.The goal of yoga, or of the person practicing yoga, is the attainment of a state of perfect spiritual insight and tranquility while meditating on the Hindu concept of divinity or Brahman.The word is associated with meditative practices in Hinduism, Jainism, and Buddhism.

Within Hindu philosophy, the word yoga is used to refer to one of the six orthodox (āstika) schools of Hindu philosophy. Yoga in this sense is based on the Yoga Sutras of Patanjali, and is also known as Rāja Yoga to distinguish it from later schools. Patanjali's system is discussed and elaborated upon in many classical Hindu texts, and has also been influential in Buddhism and Jainism. The Bhagavad Gita introduces distinctions such as Jnana Yoga ("yoga based on knowledge") vs. Karma Yoga ("yoga based on action").

Other systems of philosophy introduced in Hinduism during the medieval period are bhakti yoga, and hatha yoga.(wikipedia)

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