The Bhagavad Gita ('Song of the Lord') is part of the Mahabharata and also contains extensive teachings on Yoga. According to According to Mallinson and Singleton, the Gita "seeks to appropriate yoga from the renunciate milieu in which it originated, teaching that it is compatible with worldly activity carried out according to one's caste and life stage; it is only the fruits of one's actions that are to be renounced."[109] In addition to an entire chapter (ch. 6) dedicated to traditional yoga practice, including meditation,[113] it introduces three prominent types of yoga:[114]
Malaysia's top Islamic body in 2008 passed a fatwa, prohibiting Muslims from practicing yoga, saying it had elements of Hinduism and that its practice was blasphemy, therefore haraam.[297] Some Muslims in Malaysia who had been practicing yoga for years, criticized the decision as "insulting."[298] Sisters in Islam, a women's rights group in Malaysia, also expressed disappointment and said yoga was just a form of exercise.[299] This fatwa is legally enforceable.[300] However, Malaysia's prime minister clarified that yoga as physical exercise is permissible, but the chanting of religious mantras is prohibited.[301]

Alexander Wynne observes that formless meditation and elemental meditation might have originated in the Upanishadic tradition.[93] The earliest reference to meditation is in the Brihadaranyaka Upanishad, one of the oldest Upanishads.[67] Chandogya Upanishad describes the five kinds of vital energies (prana). Concepts used later in many yoga traditions such as internal sound and veins (nadis) are also described in the Upanishad.[59] Taittiriya Upanishad defines yoga as the mastery of body and senses.[94]
Yoga is discussed in the ancient foundational Sutras of Hindu philosophy. The Vaiśeṣika Sūtra of the Vaisheshika school of Hinduism, dated to have been composed sometime between 6th and 2nd century BCE discusses Yoga.[note 14] According to Johannes Bronkhorst, an Indologist known for his studies on early Buddhism and Hinduism and a professor at the University of Lausanne, Vaiśeṣika Sūtra describes Yoga as "a state where the mind resides only in the soul and therefore not in the senses".[120] This is equivalent to pratyahara or withdrawal of the senses, and the ancient Sutra asserts that this leads to an absence of sukha (happiness) and dukkha (suffering), then describes additional yogic meditation steps in the journey towards the state of spiritual liberation.[120]

Rāmānuja (1017–1137 CE) is of the most important theologians of Bhakti yoga, breaking with the Advaita tradition's absolute nondualism and instead arguing for a "qualified nondualism" (Viśiṣṭādvaita) which allows for a certain difference between atman and Brahman and thus it provides a strong theological foundation for devotional theism.[263] Another influential figure of this tradition is Madhva (1238–1317 CE), who argued for a form of dualism between God and soul.
The Yoga Yajnavalkya is a classical treatise on yoga attributed to the Vedic sage Yajnavalkya. It takes the form of a dialogue between Yajnavalkya and Gargi, a renowned philosopher.[162] The text contains 12 chapters and its origin has been traced to the period between the second century BCE and fourth century CE.[163] Many yoga texts like the Hatha Yoga Pradipika, the Yoga Kundalini and the Yoga Tattva Upanishads have borrowed verses from or make frequent references to the Yoga Yajnavalkya.[164] The Yoga Yajnavalkya discusses eight yoga Asanas – Swastika, Gomukha, Padma, Vira, Simha, Bhadra, Mukta and Mayura,[165] numerous breathing exercises for body cleansing,[166] and meditation.[167]
Niyama (The five "observances"): Śauca (purity, clearness of mind, speech and body),[152] Santosha (contentment, acceptance of others and of one's circumstances),[153] Tapas (persistent meditation, perseverance, austerity),[154] Svādhyāya (study of self, self-reflection, study of Vedas),[155] and Ishvara-Pranidhana (contemplation of God/Supreme Being/True Self).[153]
These meditations were seen as being supported by the other elements of the eightfold path, such as the practice of ethics, right exertion, sense restraint and right view.[244] Two mental qualities are said to be indispensable for yogic practice in Buddhism, samatha (calm, stability) and vipassanā (insight, clear seeing).[245] Samatha is the quality of a stable, relaxed and calm mind. It is also associated with samadhi (mental unification, focus) and dhyana (a state of meditative absorption). Vipassanā meanwhile, is a kind of insight or penetrative understanding into the true nature of phenomena. It is also defined as "seeing things as they truly are" (yathābhūtaṃ darśanam). The true nature of things is defined and explained in different ways, but an important and unique feature of classical Buddhism is its understanding of all phenomena (dhammas) as being empty of a self (atman) or inherent essence, a doctrine termed Anatta ("not-self") and Śūnyatā (emptiness).[246][247] This is in sharp contrast with most other Indian traditions, whose goals are founded either on the idea of an individual soul (atman, jiva, purusha) or a universal monistic consciousness ( Brahman). Vipassanā also requires an understanding of suffering or dukkha (and thus the four noble truths), impermanence (anicca) and interdependent origination.