Hinduism originated in India approximately 2000-3000 BC. It has no single founder but developed from the Vedic religion of ancient India. Some key beliefs include samsara (reincarnation), dharma (duty), karma (actions and their effects), and moksha (liberation from the cycle of rebirth). The caste system also developed from Hindu beliefs about social duties. Hinduism is considered henotheistic rather than strictly polytheistic or monotheistic, with Brahman as the supreme cosmic force and numerous gods representing aspects of Brahman.