After turning sixty I look back upon my forty year journey of yoga with enormous gratitude for all the love and wisdom I have received from my teachers. These are of course not all. On a daily basis my students have been my teachers and I am eternally thankful for having such a blessed career of teaching yoga.
What yoga philosophy and all the great Buddhist teachings tells us is that solidity is a creation of the ordinary mind and that there never was anything permanent to begin with that we could hold on to. Life would be much easier and substantially less painful if we lived with the knowledge of impermanence as the only constant.
The origins of Yoga have been speculated to date back to pre-Vedic Indian traditions, but most likely developed around the sixth and fifth centuries BCE, in ancient India’s ascetic circles, which are also credited with the early sramana or “seeker” movements. The chronology of earliest texts describing yoga practices is unclear, varyingly credited to Hindu Upanishads and Buddhist Pāli Canon, probably of third century BCE or later. The Yoga Sutras of Patanjali date from the first half of the 1st millennium CE, but only gained prominence in the 20th century.
Hatha yoga texts emerged around 11th century CE, and in its origins was related to Tantraism.