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Yogaisanancientsystemofrelaxation,exercise,andhealingwithoriginsinIndianphilosophy.EarlydescriptionsofyogaarewritteninSanskrit,theclassicalliterarylanguageofIndia.ThefirstknownworkisTheYogaSutras,writtenmorethan2,000yearsago,althoughyogamayhavebeenpracticedupto5,000yearsago.Theinitialconceptshavebeenadaptedovertimethroughtranslationandscholarlyinterpretation,butthefundamentalprinciplesdescribingthepracticeofyogainthequestofthesoulremainlargelyintact.Yogahasbeendescribedas“theunionofmind,body,andspirit”,whichaddressesphysical,mental,intellectual,emotionalandspiritualdimensionstowardsanoverallharmoniousstateofbeing.Thephilosophyofyogaissometimespicturedasatreewitheightbranches.Theseeightlimbsare:pranayama(breathingexercises),asana(physicalpostures),yama(moralbehavior),niyama(healthyhabit),dharana(concentration),prathyahare(sensewithdrawal),dhyana(contemplation),andsamadhi(higherconsciousness).Thereareseveralschoolsofyogapractice,suchashathayoga,karmayoga,bhaktiyoga,andrajayoga.Theseschoolsvaryintheproportionsoftheexercisesoftheeightlimbs.Howevertheyareallsimilarinworkingtowardsthegoalofself-realizationandcontrolofmental,physiological,andpsychologicalparametersthroughyogicexperiences.IntheUnitedStatesandEurope,hathayogaiscommonlypracticed,includingpranayamaandasanas.Yogaisoftenpracticedbyhealthyindividualswiththeaimtoachieverelaxation,fitness,andahealthylifestyle.Yogahasalsobeenrecommendedandusedforavarietyofmedicalconditions.Yogatechniquescanbelearnedinclassesorthroughvideotapeinstruction.Classeslastfrom30to90minutesandareofferedatskilllevels.