Historical evidences of the existence of Yoga were seen in the pre-Vedic period (2700 B. The main sources, from which we get the information about Yoga practices and the related literature during this period, are available in Vedas (4), Upanishads(108), Smritis, teachings of Buddhism, Jainism, Panini, Epics (2), Puranas (18) etc. During this period, commentaries of Vyasa on Yoga Sutras and Bhagawadgita etc. This period can be mainly dedicated to two great religious teachers of India –Mahavir and Buddha.The concept of Five great vows – Pancha mahavrata- by Mahavir and Ashta Magga or eightfold path by Buddha - can be well considered as early nature of Yoga sadhana.
Thus the aim of Yoga is Self-realization, to overcome all kinds of sufferings leading to 'the state of liberation' (Moksha) or ‘freedom’ (Kaivalya).
Living with freedom in all walks of life, health and harmony shall be the main objectives of Yoga practice."Yoga” also refers to an inner science comprising of a variety of methods through which human beings can realize this union and achieve mastery over their destiny.
We find its more explicit explanation in Bhagawadgita which has elaborately presented the concept of Gyan yoga, Bhakti yoga and Karma Yoga.
These three types of yoga are still the highest example of human wisdom and and even to day people find peace by following the methods as shown in Gita. has been recognized as the Post Classical period wherein the teachings of great Acharyatrayas-Adi Shankracharya, Ramanujacharya, Madhavacharya-were prominent during this period.
The practice of ‘Surya namaskara’ may have been invented later due to this influence.