Yoga is an ancient system of physical and mental practices that originated during the Indus Valley civilization in South Asia. The fundamental purpose of yoga is to foster harmony in the body, mind, and environment.br br Yoga professes a complete system of physical, mental, social, and spiritual development. For generations, this philosophy was passed on from the master teacher to the student. The first written records of the practice of yoga appeared around 200 BC in Yogasutra of Patanjali. The system consisted of the eightfold path or Asthangayoga.br br In the West, several schools of yoga are popular and use some or all limbs of Asthangayoga described by Patanjali.