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The Rigveda, however, does not describe yoga, and there is little evidence as to what the practices were Early references to practices that later became part of yoga, are made in Brihadaranyaka Upanishad, the earliest Hindu Upanishad For example, the practice of pranayama consciously regulating breath is mentioned in hymn of Brihadaranyaka Upanishad and the practice of pratyahara concentrating all of one's senses on self is mentioned in hymn of Chandogya Upanishad BCE The Jaiminiya Upanishad Brahmana teaches mantra repetition.

There are broadly two kinds of theories on the origins of yoga. The linear model argues that yoga has Aryan origins, as reflected in the Vedic textual corpus, and influenced.

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Ascetic practices tapas, concentration and bodily postures used by Vedic priests to conduct yajna sacrifice, might have been precursors to yoga Vratya, a group of ascetics mentioned in the Atharvaveda, emphasized on bodily postures which may have evolved into yogic asanas Early Samhitas also contain references to other group.

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According to Geoffrey Samuel, our "best evidence to date" suggests that yogic practices "developed in the same ascetic circles as the early śramaṇa movements Buddhists, Jainas and Ajivikas, probably in around the sixth and fifth centuries BCE." This occurred during what is called the ‘Second Urbanisation’ period.

The first known appearance of the word "yoga", with the same meaning as the modern term, is in the Katha Upanishad probably composed between the fifth and third century BCE where it is defined as the steady control of the senses.