The origins of yoga have been speculated to date back to pre-Vedic Indian traditions.
It is mentioned in the Rigveda, but most likely developed around the sixth and fifth centuries BCE in ancient India’s ascetic.
The chronology of earliest texts describing yoga practices is unclear. Hatha yoga texts emerged around the 11th century with origins in tantra.
The Yoga Sutras of Patanjali date from the first half of the 1st millennium CE
However it only gained prominence in the West in the 20th century.