Yoga is a group of physical, mental, and spiritual practices or disciplines which originated in ancient India and aim to control (yoke) and still the mind, recognizing a detached witness-consciousness untouched by the mind (Chitta) and mundane suffering (Duḥkha). There is a wide variety of schools of yoga, practices, and goals in Hinduism, Buddhism, and Jainism, and traditional and modern yoga is practiced worldwide.
Yoga-like practices were first mentioned in the ancient Hindu text known as Rigveda. Yoga is referred to in a number of the Upanishads. The first known appearance of the word "yoga" with the same meaning as the modern term is in the Katha Upanishad, which was probably composed between the fifth and third centuries BCE. Yoga continued to develop as a systematic study and practice during the fifth and sixth centuries BCE in ancient India's ascetic and Śramaṇa movements. The most comprehensive text on yoga, the Yoga Sutras of Patanjali, date to the early centuries of the Common Era; Yoga philosophy became known as one of the six orthodox philosophical schools (Darśanas) of Hinduism in the second half of the first millennium CE. Hatha yoga texts began to emerge between the ninth and 11th centuries, originating in tantra.