Jain yoga has been a central practice in Jainism. Jain spirituality is based on a strict code of nonviolence or ahimsa (which includes vegetarianism), almsgiving (dana), right faith in the three jewels, the practice of austerities (tapas) such as fasting, and yogic practices. Jain yoga aims at the liberation and purification of the self (atma) or soul (jiva) from the forces of karma, which keep all souls bound to the cycle of transmigration. Like Yoga and Sankhya, Jainism believes in a multiplicity of individual souls which bound by their individual karma. Only through the reduction of karmic influxes and the exhaustion of one's collected karma can a soul become purified and released, at which point one becomes an omniscient being who has reaches "absolute knowledge" (kevala jnana).
Yoga gurus from India later introduced yoga to the West, following the success of Swami Vivekananda in the late 19th and early 20th century with his adaptation of yoga tradition, excluding asanas. Outside India, it has developed into a form of posture-based physical fitness, stress-relief and relaxation technique. Yoga in Indian traditions, however, is more than physical exercise; it has a meditative and spiritual core. One of the six major orthodox schools of Hinduism is also called Yoga, which has its own epistemology and metaphysics, and is closely related to Hindu Samkhya philosophy.
What is often referred to as Classical Yoga or Astanga Yoga (Yoga of eight limbs) is mainly the type of Yoga outlined in the highly influential Yoga Sutras of Patanjali. The origins of the Classical Yoga tradition are unclear, though early discussions of the term appear in the Upanishads. The name "Rāja yoga" (yoga of kings) originally denoted the ultimate goal of yoga, samadhi, but was popularised by Vivekananda as a common name for Ashtanga Yoga,[note 19] the eight limbs to be practised to attain samadhi, as described in the Yoga Sutras. Yoga is also considered as one of the orthodox philosophical schools (darsanas) of Hinduism (those which accept the Vedas as source of knowledge).
One of the best known early expressions of Brahmanical Yoga thought is the Yoga Sutras of Patanjali , the original name of which may have been the Pātañjalayogaśāstra-sāṃkhya-pravacana (c. sometime between 325 - 425) which some scholars now believe included both the sutras and a commentary. As the name suggests, the metaphysical basis for this text is the Indian philosophy termed Sāṃkhya. This atheistic school is mentioned in Kauṭilya's Arthashastra as one of the three categories of anviksikis (philosophies) along with Yoga and Cārvāka. The two schools have some differences as well. Yoga accepted the conception of "personal god", while Samkhya developed as a rationalist, non-theistic/atheistic system of Hindu philosophy. Sometimes Patanjali's system is referred to as Seshvara Samkhya in contradistinction to Kapila's Nirivara Samkhya. The parallels between Yoga and Samkhya were so close that Max Müller says that "the two philosophies were in popular parlance distinguished from each other as Samkhya with and Samkhya without a Lord."
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^ James Mallinson, "Sāktism and Hathayoga," 6 March 2012. PDF file Archived 16 June 2013 at the Wayback Machine [accessed 10 June 2012] pp. 20–21 "The Buddha himself is said to have tried both pressing his tongue to the back of his mouth, in a manner similar to that of the hathayogic khecarīmudrā, and ukkutikappadhāna, a squatting posture which may be related to hathayogic techniques such as mahāmudrā, mahābandha, mahāvedha, mūlabandha, and vajrāsana in which pressure is put on the perineum with the heel, in order to force upwards the breath or Kundalinī."