Yoga in the sense of philosophy and spirituality comes from Vedic religion, and finds its mention in Rigveda. It is a purely spiritual activity in Rigveda.
The spiritual yoga is purely Vedic and is attested in the Rigvedic religion. It can be achieved by being in union with the divine knowledge (going beyond the words to attain the meaning), achieved by being in union with the essence of Vedic words, achieved by being in union with One’s Self, achieved with being in union with the final Reality going beyond the “many”s to “The One”.
Yoga is a balance. It also includes physical balance, but the most important aspect of this is the balance of mind, which would help to have balanced thinking across all the relevant things that one does in their life.
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