First talked about in the Rig Veda, one of the Asian continents greatest literary treasures, Yoga has a mentionable past that spans back into the past 5000 years but it's well considered to have roots in at least a doubling of that timescale. The word of mouth traditions were passed down by Brahmans, or Vedic Priests, who would each have a unique lineage from their teachings.
Perhaps the first written account of traditional Yoga in recognisable form is in the Bhagavad-Gita, a text with origins around 500 BC. Through suppression of the ego with internal discipline and wisdom, Yoga provides a route for the escape of the turmoil of human life.
In the 20th Century, Yoga found its way to the western societies where it was made popular ove r the following decades when taken up by celebrities such as musicians and film stars. Now a worldwide established school of thought and spiritual practice, Yoga inspires the teachings of many faiths including Hinduism, Buddhism, and Jainism. The various styles and objectives of Yoga are numerous, but they all focus on the element of discipline and control of the body, mind and emotions.
Studies have shown that Yoga is a suitable relief to stress and anxiety, it can help with overall health and physical fitness plus is not overly exerting on the body so can be enjoyed by all.