Yoga originated in India over 5,000 years ago and was first documented in the Yoga Sutras. There are many different types of yoga including Hatha yoga which focuses on physical poses, Bhakti yoga which emphasizes devotion, and Raja yoga which centers around meditation. Yoga provides physical, mental and spiritual benefits such as increased flexibility, stress relief, and mindfulness. Some common yoga poses are mountain pose, warrior pose, child's pose, and bridge pose.