Though scholars believe that the practice of Yoga can be traced as far back as 3000 B.C., the discipline is considered to be founded by Patanjali, an Indian Sage who developed the Yoga Sutra, a collection and expansion on the eight yoga paths in the second century.
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“The posture for Yoga meditation should be steady, stable, and motionless, as well as comfortable, and this is the third of the eight rungs of Yoga.”