History

 There is no consensus on yoga's chronology or origins other than its development in ancient India. 

There are two broad theories explaining the origins of yoga. The linear model holds that yoga has Vedic origins (as reflected in Vedic texts), and influenced Buddhism.

This model is mainly supported by Hindu scholars. According to the synthesis model, yoga is a synthesis of indigenous, non-Vedic practices with Vedic elements. 

This model is favored in Western scholarship.

Speculations about yoga began to emerge in the early Upanishads of the first half of the first millennium BCE, with expositions also appearing in Jain and Buddhist texts c. 500 – c. 200 BCE. Between 200 BCE and 500 CE, traditions of Hindu, Buddhist, and Jain philosophy were taking shape; teachings were collected as sutras, and a philosophical system of Patanjaliyogasastra began to emerge.

The Middle Ages saw the development of several yoga satellite traditions. It and other aspects of Indian philosophy came to the attention of the educated Western public during the mid-19th century.