![]() Yoga continued to develop as a systematic study and practice during the fifth and sixth centuries BCE in ancient India's ascetic and Śramaṇa movements. The first known appearance of the word "yoga" with the same meaning as the modern term is in the Katha Upanishad, which was probably composed between the fifth and third centuries BCE. Yoga is first mentioned in the Rigveda, and is referred to in a number of the Upanishads. According to the synthesis model, yoga is a synthesis of non-Vedic and Vedic elements this model is favoured in Western scholarship. The linear model holds that yoga originated in the Vedic period, as reflected in the Vedic textual corpus, and influenced Buddhism according to author Edward Fitzpatrick Crangle, this model is mainly supported by Hindu scholars. Two general theories exist on the origins of yoga. There is a wide variety of schools of yoga, practices, and goals in Hinduism, Buddhism, and Jainism, and traditional and modern yoga is practiced worldwide. Yoga ( / ˈ j oʊ ɡ ə/ ( listen) Sanskrit: योग, lit.'yoke' or 'union' pronounced ) is a group of physical, mental, and spiritual practices or disciplines which originated in ancient India and aim to control (yoke) and still the mind, recognizing a detached witness-consciousness untouched by the mind ( Chitta) and mundane suffering ( Duḥkha). Statue of Shiva meditating in the lotus position
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