The origins of Yoga have been speculated to date back to pre-Vedic Indian traditions, but most likely developed around the sixth and fifth centuries BCE, in ancient India’s ascetic circles, which are also credited with the early sramana movements.
The chronology of earliest texts describing yoga-practices is unclear, varyingly credited to Hindu Upanishads and Buddhist Pāli Canon, probably of third century BCE or later. The Yoga Sutras of Patanjali from first half of 1st millennium CE is one of a key surviving major texts on Yoga. Hatha yoga texts emerged around 11th century CE, and in its origins was related to Tantrism.
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