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The science of Yoga has its origin thousands of years ago, long before the first religion or belief systems were born. According to Yogic lore, Shiva has seen as the first yogi or ādiyogi and the first guru or ādiguru. Several thousand years ago, on the banks of lake Kantisarovar in the Himalayas, ādiyogi poured his profound knowledge into the legendary saptarishis or "seven sages". These sages carried this powerful Yogic science to different parts of the world including Asia, the Middle East, northern Africa and South America.

The most well-known of the Yogic scriptures is the Bhagavad Gita, composed around 500 BCE. In the Yoga Sutras, Patanjali describes two forms of Samadhi (a state of meditative consciousness): samprajnata and asamprajnata. The Yoga Sutras of Patanjali date from the first half of the 1st millennium CE, but only gained prominence in the West in the 20th century.

Hatha yoga texts emerged around the 11th century with origins in tantra. Yoga gurus from India later introduced yoga to the West, following the success of Swami Vivekananda in the late 19th and early 20th century. In the 1980s, yoga became popular as a system of physical exercise across the Western world. Yoga in Indian traditions, however, is more than physical exercise; it has a meditative and spiritual core.

In 2014, the United Nations declared June 21 as the International Day of Yoga. Yoga is blossoming and growing more vibrant with each passing day.