Where did yoga originate?

Ideas linked to yoga appear in early Indian texts such as the Upanishads and the Bhagavad Gita. Around the early centuries CE, the sage Patanjali compiled the Yoga Sutras, which describe an eight-limbed path including ethics, breathing and meditation. The physical postures, or asanas, became much more prominent through Hatha yoga texts from around the 11th to 15th centuries. In the 20th century teachers such as Tirumalai Krishnamacharya and his students helped spread modern posture-based yoga worldwide. In 2014 the United Nations declared 21 June the International Day of Yoga.