Yoga originated in ancient India and has a long history and tradition within Hinduism, Buddhism, and Jainism. It involves physical, mental, and spiritual practices aimed at cultivating health and inner peace. The earliest texts describing yoga practices date back to between the 6th and 5th centuries BCE but the traditions are believed to be even older. Yoga Sutras of Patanjali from the 1st millennium CE were influential in the 20th century. Hatha yoga texts emerged in the 11th century CE and were originally associated with Tantrism. Yoga was introduced to the Western world in the late 19th and early 20th centuries and grew in popularity as a form of exercise in the Western