In the classical era, Patanjali composed the yoga sutras, which consists of 195 aphorisms. They expound the Raja yoga or the eight-fold path, meant to be memorized, as it is not written.
The history of modern yoga began in 1893 in Chicago. Swami Vivekananda, a disciple of saint Ramakrishna, made a lasting impression on the American public.
The knowledge of Brahman was the essence of vedic teachings. But, gradually in the later eras, these teachings were compiled and the system of hatha yoga developed in the post classical era.
The knowledge of Brahman was the essence of vedic teachings. But, gradually in the later eras, these teachings were compiled and the system of hatha yoga developed in the post classical era.