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  Yoga is considered to be the ultimate way of attaining liberation (Moksha) from worldly suffering and the cycle of birth and death (Samsara). Yoga entails mastery over the body, mind, and emotional self, and transcendence of desire. It is said to lead gradually to knowledge of the true nature of reality. The earliest written accounts of yoga appear in the Rig Veda, which began to be codified between 1500 and 1200 BCE.  Images of a meditating yogi from the Indus Valley Civilization are thought to be  6 to 7 thousand years old. The first full description of the principles and goals of yoga are found in the Upanisads, thought to have been composed between the eighth and fourth centuries BC. The Upanisads are also called Vedanta since they constitute the end or conclusion of the Vedas (the traditional body of spiritual wisdom). 
  In Bhagavad Gita Krishna describes the following yogas:
(1) Karma yoga, the yoga of "action" in the world. 
(2) Jnana yoga, the yoga of knowledge and intellectual endeavor. 
(3) Bhakti yoga, the yoga of devotion to a deity. 
(4) Raja yoga, the yoga of meditation  
 
What is Yoga?
  The classic description of yoga is the Yoga Sutras of Patanjali. In the Yoga Sutras Patanjali presents the goal of yoga as 'the cessation of mental fluctuations' (cittavrtti nirodha), an achievement which gives rise to the possibility of stable meditation and thus deeper states of absorption (dhyana or samadhi).

    
       
   || Yogah Chitta Vritti Norodhah ||2 || 
 
It means Yoga (union)  is to block or restraint (Nirodhah) the modifications ( Vritti )  of the  mind (Chitta). 
 
In the 3rd Sutra  of Patanjal Yoga Sutras is .                            
           || Tada Drastu Swaroope Awasthanam ||3 ||
 
Then the seer is established in his real or true (original) state or nature. This state is the aim or ultimate goal of Yoga.
Patanjali's Yoga Sutras  sets forth eight "limbs" of yoga practice. The eight are:
(1) Yama (The five "abstentions"): violence, lying, theft, (illicit-) sex, and possessions 
(2) Niyama (The five "observances"): purity, contentment, austerities, study, and surrender to god 
(3) Asana: This term literally means "seat," and originally referred mainly to seated positions. With the rise of Hatha yoga, it came to be used of these yoga "postures" as well. 
(4) Pranayama: Control of prāna or vital breath 
(5) Pratyahara ("Abstraction"): Reversal of the sense organs 
(6) Dharana ("Concentration"): Fixing the attention on a single object 
(7) Dhyana ("Meditation") 
(8) Samadhi: Super-conscious state or trance (state of liberation)  
  

 

  Classification of Yoga
  Yoga in many form are classified as
  Anahata Yoga 
  Bikram Yoga 
  Hatha Yoga 
  Integral Yoga 
  Iyengar Yoga 
  Kriya yoga 
  Kundalini 
  Master Yoga 
  Meditation 
  Naked yoga 
  Pranayam 
  Raja Yoga 
  Sahaja Yoga 
  Sivananda Yoga 
  Trul khor (Tibetan Yoga) 

  
Research work on Yoga
  Yoga induces a feeling of well-being in healthy people, and can reverse the clinical and biochemical changes associated with metabolic syndrome, according to results of studies from Sweden and India. Metabolic syndrome is a cluster of heart disease risk factors such as high blood pressure, obesity and high blood sugar.
  Dr. R.P. Agrawal, of the SP Medical College, Bikaner, India, and colleagues evaluated the beneficial effects of yoga and meditation in 101 adults with features of metabolic syndrome. In the study, 55 adults received three months of regular yoga including standard postures and Raja Yoga, a form of transcendental meditation daily, while the remaining received standard care. Waist circumference, blood pressure, blood sugar, and triglycerides were significantly lower, and "good" HDL cholesterol levels were higher in the yoga group as compared to controls, Agrawal's team reports in the journal Diabetes Research and Clinical Practice.
  In the second study, published online December 19 in BioMed Central Complementary and Alternative Medicine, Dr. Anette Kjellgren from the University of Karlstad, Sweden and colleagues evaluated the beneficial effects of yoga-like breathing exercises on healthy volunteers.  Fifty-five adults were advised to practice "Sudarshan Kriya," which involves cycles of slow normal and rapid breathing exercises. The exercises were practiced for an hour daily, six days a week for six weeks, while 48 controls were advised to relax in an armchair for 15 minutes daily.
   At the end of the study period, feelings of anxiety, stress and depression were significantly lower and levels of optimism significantly higher in the yoga group compared to the control group, Kjellgren and colleagues report.
   Yoga induces a "relaxation response" associated with reduced nervous system activity and a feeling of well-being probably due to an increase in antioxidants and lower levels of the stress hormone cortisol, they suggest.  Yoga not only helps in prevention of lifestyle diseases, but can also be "a powerful adjunct therapy when these diseases arise," co-investigator Dr. Faahri Saatiglou, from the University of Oslo, told Reuters Health. "We do not emphasize this point enough in our Western health care."

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