The history of yoga is long and steeped in tradition. Contrary to what some people may believe, yoga was not developed as newest way to slim down so they could fit into a smaller pants size. The history of yoga goes back 5,000 years. It originated in India, and first time word yoga was found in written form was in Rig Vada, one of sacred texts used by Vedic priests. Yoga is a means of achieving spiritual enlightenment.
Originally, yoga techniques were passed down from teacher to student through word of mouth. These techniques had never been written down until Indian sage Patanjali wrote down a systematic method of yoga in Yoga Sutras. Patanjali is considered to be father of yoga.
According to Patanjali, there are eight limbs of yoga, which lead to ultimate goal of enlightenment.
Yama - abstaining from violence, stealing, lust, greed
Niyam - developing devotion, purity, studiousness, contentment, discipline