Modern scholars divide the development history of yoga into the following periods.

1. Primitive period: From 2500 to 3000 BC, Indian yogis learned yoga practice methods from animals in the primeval forest. In the Indus Valley, it was mainly obtained through esoteric biography, which lasted for 1000 years, with few written records, and appeared in the form of meditation, meditation and asceticism. Yoga at this time is tantric yoga. During the Indus civilization, a group of indigenous people roamed the earth in the Indian subcontinent. Everything gave them infinite inspiration, and they held complicated and serious ceremonies to worship the gods in order to explore the truth of life. The worship of sexual strength, special function and longevity is the characteristic of esoteric yoga. Yoga in the traditional sense is a kind of practice aimed at the inner soul. The development of yoga has been accompanied by the historical evolution of Indian religion, and the connotation of yoga has been constantly developed and enriched with the development of history.

2. Vedic period: The original concept of yoga appeared in15th century-8th century. The invasion of nomadic Aryans aggravated the decline of Indian indigenous civilization and brought Brahman culture. In its religious classic Vedas, the concept of yoga was put forward for the first time, and it was defined as "restraint" or "discipline", but there was no posture. In its last classic, yoga is considered as a kind of self-restraint. At first, the goal of Vedic yoga practice was mainly to achieve self-liberation by physical practice, and later it was transformed into a religious philosophy of the unity of Brahma and Me.

3. Pre-classic period: becoming a way of practice. In the 6th century BC (Vipassana),13rd century, it became extinct in India, and Islam invaded it, forcing it to believe in Islam. From the 8th century BC to the 5th century BC, in the religious classic Upanishads, asana refers to a general practice method that can completely get rid of pain. There are two schools of yoga popular here, namely karma and yoga. Industry yoga emphasizes religious ceremonies, while wisdom yoga emphasizes the study and understanding of religious classics. These two cultivation methods can make people finally reach the realm of liberation.

4. Classic period: important yoga classics appeared in the 5th century BC-2nd century AD, and two classic works, the Bhagavad gita and the Yoga Sutra. The Bhagavad-gita originates from Upanishads, and mainly talks about various ways of communicating with divinity, including raja yoga, devotional yoga, professional yoga and intellectual yoga. Yoga Sutra talks about achieving the balance of body, mind and spirit through spiritual purification. It defines yoga as a way of practicing to restrain the changeable mind. That is, the combination of number theory and yoga practice theory, and strictly adhere to the eight methods, in order to get rid of it and return to the true state of self. The eight methods are: "the eight steps of practicing yoga; Self-discipline, diligence, meditation, pranayama, awareness, persistence, meditation, samadhi. " It is the center of raja yoga, which is used to gain enlightenment.

5. Post-classical period: During the flourishing period of modern yoga from the 2nd century A.D. to19th century, Tandoro, who had a far-reaching influence on modern yoga, believed that only through strict asceticism and meditation can the ultimate freedom be obtained, and finally freedom can be obtained by worshipping the goddess. They believe that everything has relativity and duality (good and evil, heat and cold, yin and yang) and the only way to get rid of pain. Patanjali-Although he emphasized the necessity of exercise and purification, he also believed that the human body was unclean. A truly enlightened yogi will try to get rid of the company of the crowd to avoid being polluted. However, the (Tandoro) Yoga School appreciates the human body very much, believing that Shiva exists in the human body, and that the origin of all natural things is sexual power, which is located directly below the spine. The world is not an illusion, but a proof of divinity, and people can get closer to divinity through the experience of the world. They tend to combine the energy of men and women in a symbolic way. They rely on hard yoga posture to awaken the female strength in the body, extract it from the body, and then combine it with the male strength above their heads. They respect women more than any yogi.

6. The history of hatha yoga is from19th century to 2 10/0th century (up to now). Hatha yoga is only a small and unimportant yoga school in the post-classical period, but it is also the most popular yoga school in the contemporary western world. Because he was obsessed with the cultivation of body and supernatural power, he was somewhat suspected of heresy in Hinduism at that time. Its theory originated from Tandoro Yoga, and also absorbed Buddhism and alchemy. The word "ha" in hatha yoga refers to the sun and "he" refers to the moon. Ha, it is the combination of the sun and the moon, which means that they complement each other. Hatha yoga is not as interested in the combination of the sexes as Tandoro yoga, but is more keen on transforming the flesh into a subtle Eucharist, so as to achieve enlightenment. In the whole post-classical period, hatha yoga was a marginal school, but it produced a surprising number of monographs. Among them, the light of hatha yoga describes the 16 pose, most of which is a variation of lotus style, and introduces a variety of cleaning methods, 8 pranayama techniques and a variety of special beam closing methods. Another book is Shiva's Biography, which emphasizes that even an ordinary person (male) can practice yoga. It lists a complex life system, names 84 different yoga styles, and describes five specific vitality and specific skills to control these vitality. It advocates that practicing yoga can not only cure diseases, but also gain mysterious superpowers. Hatha yoga is the most popular form of yoga at present, which first appeared in our culture, emphasizing promoting health and changing appearance. However, with the gradual deepening of yoga, the physical coordination and flexibility gained by practitioners through yoga will enable them to enter a deeper and more spiritual realm in their lives, and the unity of body, mind and spirit will become their ultimate goal.