YOGA ITSELF IS UNIVERSAL SANATANA HINDUISM ALBEIT SECT-/CULT-NEUTRAL
Yoga was first expounded by Hiranyagarbha Brhama to Sankadika -s, then to Vivasvana ( Surya ) though archaeologists presume it to be some 5000 years old comprising of Brhama - Yoga and Karma - Yoga . Brhama - Yoga was laid down by Sanak , Sanandana , Sanatana , Maharsi Kapil etc. which later came to known as Jnana -, Adhyatma - and Samkhya - Yoga too. Karma - Yoga was elucidated by Vivasvana to Manu , by Manu to Iksvaku and by Iksvaku to other Rsi -s and Maharsi -s as elucidated in Veda -s, oldest scriptures of human civilisation. Yoga Sutra -s were authored by Maharsi Patanjali in 200 BC based on Veda -s, BhagvadGita , Hathyoga Pradipika , Siva - Samhita , Vijnana Bhairava Tantra etc. Out of scores of Bhasya -s authored by many, Vyasa - Bhasya authored during 200-400 BC and Yogavartika by Vijnana Bhiksu are regarded as authentic ones. To attain liberation from sufferings born of ignorance, Maharsi Patanjali composed Yogasutra -s based on his own personal forays ...