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Yoga is a very old discipline for the body and the mind, the aim of which is to bring realization of the Self, that part of us which is always happy. The word Yoga comes from the Sanskrit verb Yujin which means to unify, so Yoga means unification. Unification of the individual soul with the Cosmic Soul is Yoga. Yoga is a stage of existence in which there is no duality, where everything is one.
The main practices of yoga are Asana (physical postures) and Meditation, but many other topics like medicine, diet, ethics, social life, science etc. etc. are included in this old discipline.
The origins of this ancient discipline, have their roots in the culture of Tantra, the older culture of this planet. Actually Yoga is Tantra, and since this old culture influenced many other cultures, today we can find Yoga (especially the practice of meditation) in different cultures like Buddhism, Taoism and Hinduism.