Yoga has its origins in ancient India and is first mentioned in the Rig Veda. It was systematically presented by Sage Patanjali in the Yoga Sutras around 150 BC. Patanjali defined yoga as the restraint of the activities of the mind. Yoga philosophy includes several paths such as Jnana Yoga focused on inquiry, Karma Yoga focused on selfless service, Bhakti Yoga focused on devotion to God, Raja Yoga focused on self-introspection, and Hatha Yoga focused on physical discipline through asanas and pranayama. The eight limbs of yoga are yamas (restraints), niyamas (observances), asana (posture),