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                                                                HISTORY OF YOGA

Indus Valley seals:-
Several seals discovered  at  Indus  Valley  Civilization  (c. 3300–1700 BC)  sites  depict figures in a yoga or meditation like posture. There is  considerable  evidence to support the idea that the  images show "a form of ritual discipline, suggesting a precursor  of  yoga" according  to archaeologist Gregory  Possehl. He  points  to  sixteen  other  specific "yogi  glyptics" in  the  corpus  of  Mature Harappan artifacts  as  pointing to Harappan devotion to "ritual discipline and concentration." These images show that the yoga pose "may  have been  used  by  deities  and  humans  alike."  Possehl  suggests  that  yoga   goes   back    to   the  Indus  Valley Civilization. The most widely known of  these  images  was  named  the "Pashupati seal" by  its discoverer, John Marshall, who believed that it  represented  a "proto-Shiva" figure. Many  modern  authorities discount  the idea that  this "Pashupati"  (Lord  of  Animals,  Sanskrit  pasupati) represents  a  Shiva  or  Rudra figure.Gavin Flood also characterizes these views as "speculative", saying that it is not clear from  the 'Pashupati' seal that  the figure is seated  in  a yoga posture, or that the shape is intended to represent a human  figure. Authorities who support the idea that the 'Pashupati'  figure  shows  a  figure  in  a   yoga  or  meditation   posture  include  Archaeologist Jonathan  Mark  Kenoyer,  current  Co-director of  the Harappa  Archaeological  Research Project in Pakistan and Indologist Heinrich Zimmer. In 2007, terracotta seals were discovered in the Cholistan Desert  in  Pakistan. Punjab University Archaeology Department Chairman Dr. Farzand Masih described one of  the  seals as similar to the previously discovered Mohenjodaro seals, with three pictographs on one  side and a "yogi" on  the  other side.

Literary sources :- Ascetic  practices  (tapas) are  referenced  in the Brahma (900 BCE and 500 BCE), early commentaries on the vedas. In the Upanishads, an early  reference  to  meditation  is  made  in  Brihadaranyaka Upanishad, one  of  the earliest Upanishads (approx.  900  BCE). The  main  textual  sources  for  the  evolving concept  of  Yoga  are  the  middle  Upanishads, (ca. 400 BCE), the  Mahabharata (5th c. BCE)  including  the Bhagavad Gita (ca. 200 BCE), and the Yoga Sutras of Patanjali (200 BCE-300 CE).

Bhagavad Gita:- The Bhagavad  Gita  ('Song  of  the  Lord'), uses  the  term  yoga  extensively  in a variety of senses. Of many possible meanings given to the term in the Gita, most emphasis is given to these three:
Karma yoga: The yoga of action
Bhakti yoga: The yoga of devotion
Jnana yoga: The yoga of knowledge

Yoga Sutras of Patanjali:- The  sage  Patanjali  is  regarded  as  the  founder  of  the formal Yoga philosophy. Patanjali's writing also became the basis for a system referred to  it as "Ashtanga Yoga"("Eight-Limbed  Yoga"). This eight-limbed concept derived from the 29th Sutra of the 2nd book became a feature of Raja yoga, and is a core characteristic of practically every Raja yoga variation taught today. 
The Eight Limbs of  yoga practice are:

(1) Yama (The five "abstentions"): Nonviolence, truth, non-covetousness, chastity, and abstain from  attachment       to possessions.
(2) Niyama (The five "observances"): Purity, contentment, austerities, study, and surrender to god.
(3) Asana: Literally means "seat", and in Patanjali's Sutras refers to seated positions used  for  meditation. Later,       with the rise of Hatha yoga, asana came to refer to all the "postures".
(4) Pranayama ("Lengthening Prana"): Prana,  life  force, or  vital  energy,  particularly,  the  breath, "ayama",  to       lengthen or extend.
(5) Pratyahara ("Abstraction"): Withdrawal of the sense organs from external objects.
(6) Dharana ("Concentration"): Fixing the attention on a single object.
(7) Dhyana ("Meditation"): Intense contemplation of the nature of the object of meditation.
(8) Samadhi ("Liberation"): merging consciousness with the object of meditation.

They are sometimes divided into the lower and the upper four limbs, the lower ones being parallel to  the  lower limbs of Hatha Yoga, while the upper ones being specific for  the Raja yoga. The  upper  three  limbs  practiced simultaneously constitute the Samyama.

Hatha Yoga Pradipika:- Hatha Yoga is a particular system of Yoga described by Yogi Swatmarama, a  yogic sage of the 15th century in India, and compiler of the Hatha Yoga Pradipika. Hatha Yoga  is  a  development of Yoga  but  also  differs  substantially  from  the  Raja  Yoga  of  Patanjali, in  that  it  focuses  on  shatkarma, the purification of  the  physical  as  leading  to  the  purification of the mind (ha), and prana, or vital energy (tha). In contrast, the Raja Yoga posited by Patanjali begins with a purification of the mind (yamas)  and spirit (niyamas), then comes to the body via asana (body  postures) and  pranayama  (breath). Hatha  yoga  contains  substantial tantric influence, and marks the first point at which chakras and kundalini were introduced  into the yogic canon. Compared to the seated asanas of Patanjali's Raja yoga which were seen largely as  a  means  of  preparing  for meditation, it also marks the development of asanas as full body 'postures' in the modern sense.