Yoga's practice and understanding have evolved significantly across different historical periods: During the Pre-Vedic period, yoga practices were hinted at through artifacts from the Indus-Saraswati civilization . In the Vedic period, yoga was primarily part of rituals, with the earliest mentions in the Rig Veda and emphasis on breath control in the Atharva Veda . The Pre-Classical period featured the Yoga Upanishads, focusing on spiritual teachings and techniques like pranayama and meditation, with yoga forms such as Karma Yoga and Jnana Yoga emerging . The Classical period, seen as the golden age, was marked by developments in Raja Yoga through Patanjali's Yoga Sutras, interweaving into Buddhism and Jainism . In the Post-Classical period, yogic traditions diversified with yogis like Adi Shankaracharya promoting Jnana and Raja Yoga, while Hatha Yoga gained prominence . The Modern period, beginning in 1700 AD, saw figures like Swami Vivekananda spread yoga as a means of physical strength and spiritual discipline, with a stronger emphasis on Hatha Yoga and an increased global awareness .

Patanjali’s Yoga Sutras are vital to the development of Raja Yoga, systematically capturing the essence of yoga’s mental discipline and meditative practices . The Sutras focused on "Yogah Chitta Vritti Nirodhah," the control of mental fluctuations, setting a framework for achieving mental clarity and spiritual insight . This text elevated Raja Yoga into a cohesive form that integrates meditation with ethical and moral precepts, influencing how contemporary yoga was taught and practiced systematically . Patanjali's work served as a foundational text for yoga educators and practitioners, promoting a deeper understanding of yoga beyond physical postures, focusing instead on inner transformation and enlightenment.

The Bhagavad Gita plays an essential role in framing the philosophical context of yoga, providing comprehensive teachings on disciplines such as dharma, jnana, karma, and bhakti yoga . Lord Krishna's definitions in the Gita, like "Samatvam Yoga Uchyate," highlight yoga as a state of mental and emotional equanimity . The text also emphasizes "Yogah karmasu kaushalam," depicting yoga as skill in action, underscoring the importance of performing one's duties with perfect skill and detachment . These philosophical foundations outline the aspirations of yogic practice, focusing on achieving balance, ethical living, and spiritual transcendence, which have profoundly influenced both the traditional and contemporary interpretations of yoga.

Cultural appreciation and connectivity have significantly contributed to the global spread and acceptance of yoga by allowing individuals to explore Indian philosophical and spiritual traditions. Yoga's deep roots in Indian culture are appreciated globally, fostering a sense of belonging to a worldwide community of practitioners . This cultural connectivity is enhanced through yoga’s representation in fitness centers, wellness programs, schools, and media, making it a part of mainstream global culture . The inclusivity of yoga, accommodating various ages, body types, and fitness levels without requiring specialized equipment, has also broadened its accessibility, promoting its cultural and spiritual appreciation across diverse populations .

Modern yoga teachers have been pivotal in the evolution and spread of yoga, focusing on adapting its ancient practices for contemporary audiences. Swami Vivekananda was fundamental in introducing yoga to the Western world, emphasizing yoga as a path to strength and spiritual awakening . Teachers like BKS Iyengar and K Pattabhi Jois popularized styles such as Hatha Yoga and Ashtanga Yoga, making yoga accessible through structured teaching methodologies and writings . Paramhansa Yogananda's focus on meditation and spiritual enlightenment helped bridge eastern and western spirituality . These figures and their teachings helped integrate yoga into mainstream fitness and spiritual practices globally, expanding its reach and relevance beyond traditional boundaries.

The Classical Period of yoga, considered the golden period, significantly influenced Buddhist and Jain practices. During this time, the emphasis on yoga’s contribution to a peaceful mind and spiritual enlightenment permeated Buddhist teachings, with Lord Buddha being one of the first to study yoga, integrating meditative practices and yogic postures aimed at attaining enlightenment . Similarly, Jainism incorporated yoga with Lord Mahavira advocating for meditation as a means to achieve salvation and moksha, emphasizing self-discipline and ethical living . The period’s integration of yoga into these religions highlighted yoga's versatility and adaptability in enhancing spiritual and meditative practices within diverse philosophical frameworks.

Adiyogi Shiva, regarded as the first yogi, played a fundamental role in the earliest transmission of yogic science. He imparted profound knowledge to the Saptarishis or 'seven sages' on the banks of the lake Kantisarovar in the Himalayas . These sages disseminated this knowledge across various cultures in Asia, the Middle East, Northern Africa, and South America, leading to parallels in ancient cultural practices around the world . In India, the Saptarishi Agastya was instrumental in embedding yoga into Indian culture, elevating it to its fullest expression and facilitating the development of a culture centered on core yogic principles . This early transmission was crucial in the global spread and adaptation of yoga through different cultural lenses over the centuries.

Maharishi Patanjali defines Yoga as "Yogah Chitta Vritti Nirodhah" which translates to the control of the functioning of the mind. This definition emphasizes the mental discipline aspect of yoga as a way to control thoughts and emotions, leading to mental peace . Lord Krishna offers two definitions: "Samatvam Yoga Uchyate," meaning yoga is a balanced state of equanimity of the body, mind, and emotions, and "Yogah karmasu kaushalam," meaning yoga is skill in action, implying perfect, efficient, and positive actions . Both definitions point to achieving a state of mental and emotional equilibrium and performing perfect actions, aligning with yoga's ultimate goal of liberation from suffering by creating harmony between the individual and universal consciousness .

The accessibility of yoga significantly contributed to its prevalence in mainstream culture by providing an inclusive practice that accommodates a wide range of individuals regardless of age, fitness level, or body type . Its practice does not require expensive equipment or specialized training, making it feasible for various settings, including fitness centers, wellness retreats, schools, and workplaces . Yoga's therapeutic benefits for mental and physical health have facilitated its integration into wellness programs and complementary medicine practices, offering a holistic method for stress reduction and physical enhancement . This broad accessibility has allowed more people to experience yoga's benefits, fostering its acceptance and growth in everyday life globally.

Yoga plays a crucial role in promoting both physical and mental well-being by offering a holistic approach. Physically, it improves flexibility, strength, and posture . On a mental level, yoga reduces stress, anxiety, and depression, promoting emotional stability and integrating moral values . The practice combines physical postures, breath control, and meditation, cultivating mindfulness and self-awareness, which effectively manage emotions and reduce stress . These elements help individuals attain a higher level of consciousness, creating inner peace and reducing the impact of modern stressors .