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Yoga is a spiritual, physical, and mental discipline that originated in ancient India. Yoga was first shared by the sage Patanjali in his lengthy Yoga Sutras approximately 400 C.E., but training had already been passed down from teacher to student prior to the publication of this treatise. The term 'yoga' in the Western world often denotes a modern form of Hatha yoga and a posture-based physical fitness, stress-relief, and relaxation technique, consisting largely of the asanas;this differs from traditional yoga, which focuses on meditation and release from worldly attachments.