According to Wikipedia: "Yoga is the Hindu practice of physical, mental, and spiritual discipline, originating in ancient India. The goal of yoga, or of the person practicing yoga, is the attainment of a state of perfect spiritual insight and tranquility while meditating on the Hindu concept of divinity or Brahman. The word is associated with meditative practices in Hinduism, Jainism, and Buddhism."
Doctrine and Practice of Yoga
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