Terminology
The Sanskrit word yoga has the literal meaning of "yoke", or "the act of yoking or harnessing", from a root yuj. In Vedic Sanskrit, the term "yoga" besides its literal meaning, the yoking or harnessing of oxen or horses, already has a figurative sense, where it takes the general meaning of "employment, use, application, performance" (compare the figurative uses of "to harness" as in "to put something to some use"). All further developments of the sense of this word are post-Vedic. A sense of "exertion, endeavour, zeal, diligence" is found in Epic Sanskrit. The more technical sense of the term "yoga", describing a system of meditation or contemplation with the aim of the cessation of mental activity and the attaining of a "supreme state" arises with early Buddhism (5th century BC), and is adopted in Vedanta philosophy by the 4th century BC.
There are a great many compounds containing yoga in Sanskrit, many of them unrelated to the technical or spiritual sense the word has taken in Vedanta. Yoga in these words takes meanings such as "union, connection, contact", or "method, application, performance", etc. For example, guṇá-yoga means "contact with a cord"; cakrá-yoga has a medical sense of "applying a splint or similar instrument by means of pulleys (in case of dislocation of the thigh)"; candrá-yoga has the astronomical sense of "conjunction of the moon with a constellation"; puṃ-yoga is a grammatical term expressing "connection or relation with a man", etc.
Many such compounds are also found in the wider field of religion. Thus, bhakti-yoga means "devoted attachment" in the monotheistic Bhakti movement. The term kriyā-yoga has a grammatical sense, meaning "connection with a verb". But the same compound is also given a technical meaning in the Yoga Sutras (2.1), designating the "practical" aspects of the philosophy, i.e. the "union with the Supreme" due to performance of duties in everyday life.
History
Before Patanjali
Prehistory
Several seals discovered at Indus Valley Civilization sites, dating to the mid 3rd millennium BC, depict figures in positions resembling a common yoga or meditation pose, showing "a form of ritual discipline, suggesting a precursor of yoga," according to archaeologist Gregory Possehl. Some type of connection between the Indus Valley seals and later yoga and meditation practices is speculated upon by many scholars, though there is no conclusive evidence. More specifically, scholars and archaeologists have remarked on close similarities in the yogic and meditative postures depicted in the seals with those of various Tirthankaras: the "kayotsarga" posture of Rsabha and the "mulabandhasana" of Mahavira along with seals depicting meditative figure flanked by upright serpents bearing similarities to iconography of Parsva. All these are indicative of not only links between Indus Valley Civilisation and Jainism, but also show the contribution of Jainism to various yogic practices.
Techniques for experiencing higher states of consciousness in meditation were developed by the shramanic traditions and in the Upanishadic tradition.
While there is no clear evidence for meditation in pre-Buddhist early Brahminic texts, there is a view that formless meditation might have originated in the Brahminic tradition. This is based on strong parallels between Upanishadic cosmological statements and the meditative goals of the two teachers of the Buddha as recorded in early Buddhist texts. As well as some less likely possibilities, the view put forward is that cosmological statements in the Upanishads reflect a contemplative tradition, and it is concluded that the Nasadiya Sukta contains evidence for a contemplative tradition, even as early as the late Rg Vedic period.
The Vedic Samhitas contain references to ascetics, while ascetic practices ("tapas") are referenced in the Brāhmaṇas (900 to 500 BCE), early commentaries on the Vedas. Want to read more..........click here