It is difficult to trace the absolute origins of yoga, as many works have
been around since the dawn of time and traditional Indian literature was
based around the dissemination of information, rather than the materialistic
glory of specifying an author and date. So, it is commonly accepted that
historically, the first trace of Yoga is found in a revered book called
Rigveda.
Four Vedas, which were written by four Maharishis, which reveal the root of true spiritual and material knowledge. They say that our main aim in life is 1. Jana (gaining true knowledge), 2. Karma (putting that knowledge into practice), and 3. Upasana (to sit in the company of God for self Realisation). This way we can advance to get rid of pain and sorrow from our daily life. Vedic literature is the base of Yoga thoughts.
The type of yoga we practise is Hatha Yoga, which concentrates on controlling the senses through strength and physical purity, before it blossoms into the spiritual realm and self-realisation.
The originator of Hatha Yoga is believed to be Adinath (Lord shiva) who taught Hatha Yoga to his wife Parwati. The development of Hatha Yoga took years through the generations of "Nath" swami's who experienced self-realisation through Hatha Yoga techniques.
The time of Raja Yoga is much more ancient than Hatha Yoga. Maharishi Ved Vyasa has written commentary on the "Yoga Sutra's of Patanjali" at the time of great Indian epic called "Mahabharata". The time of Mahabharata is more than five thousand years ago. So, it seems that the time of Patanjali or the time of Raja Yoga is much before five thousand years ago.
Even if we assume that Patanjali invented Raja Yoga at the time of Mahabharata, still the time of Raja Yoga can justify as much as five thousand years ancient.
The word 'Yoga' itself
originates from the root 'Yuj samadhao' that means 'Union with the Supreme
Being'.
