The history of yoga dates back 5,000-8,000 years to ancient India. Early evidence of yoga-like poses have been found in archaeological sites from the Indus Valley Civilization. During the Vedic period, yoga was practiced ritually to develop concentration and transcend everyday life. Classical yoga developed around 500 BC with texts like the Upanishads, Bhagavad Gita, and Patanjali's Yoga Sutras codifying different paths of yoga including Jnana, Bhakti, Karma, and Raja yoga. In the modern era, Swami Vivekananda introduced yoga to the Western world in 1893, popularizing it as a spiritual practice worldwide.