Though there is consensus that Yoga originated in India and "how and when" remains an issue of debate. Some argue that origins of Yoga lie in Vedic religious worship. While The Columbia Encyclopedia notes that both Vedic and early Buddhist literature contain descriptions of austerities and mediation.

Patanjali's writing also became the basis for a system referred to as "Ashtanga Yoga" ("Eight-Limbed Yoga"). This eight-limbed concept derived from the 29th Sutra of the 2nd book.

The Yoga Yajnavalkya is a classical treatise on yoga attributed to Vedic sage Yajnavalkya. It takes the form of a dialogue between Yajnavalkya and his wife Gargi, a renowned female philosopher.

The text consists of 12 chapters and its origin has been traced to the period between the second century B.C.E. and fourth century C.E. The Yoga.

Yoga agrees with the essential metaphysics of Samkhya, but differs from it in that while Samkhya holds that knowledge is the means of liberation, Yoga is a system of active striving, mental discipline, and dutiful action.