Classical Period
In the second century C.E. Patanjali composed the Yoga Sutras, consisting of 195 aphorisms. The Sutras expound the Raja yoga or the eight-fold path, which is meant to be memorized, since it was not in written form. The earliest known Sanskrit commentary on the Sutras is Yoga- Bhashya (speech on Yoga), by Vyasa in the fifth century.
Patanjali believed that each individual is composed of matter (Prakriti) and spirit (Purusha). He advocated that yoga would restore the spirit to its absolute reality, marking a shift from non- dualism to dualism in his teaching.
Post-Classical Period
This period in Yoga affirms the teachings of Vedanta, which is the philosophical system based on the teachings of the Upanishads, that there is ultimate unity in everything in the cosmos.
In the earlier eras, yogis laid emphasis only on meditation and contemplation, With the goal of shedding their mortal coils and merging with the infinite. However, during this period, yogis began to explore the hidden powers of the body. Yoga masters designed advanced yogic practices that would rejuvenate the body and prolong its life, which led to the development of Hatha Yoga. This form is now practiced throughout the world.
What is Hatha Yoga?
It is the yoga of postures or Asanas, which broadly consists of asanas (body postures), pranayama (breathing techniques), relaxation, and cleansing techniques. The main goal of Hatha Yoga is to facilitate concentration and meditation, which is actually a preparation for achieving the final stage of Yoga, called Samadhi.
Along with Hatha Yoga, Tantra Yoga also developed in this period. Tantra yoga is the path of rituals and mantra or mystic syllables described in Atharva Veda.
