According to Wikipedia: "Yoga is the Hindu practice of physical, mental, and spiritual discipline, originating in ancient India. The goal of yoga, or of the person practicing yoga, is the attainment of a state of perfect spiritual insight and tranquility while meditating on the Hindu concept of divinity or Brahman. The word is associated with meditative practices in Hinduism, Jainism, and Buddhism."
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THE DOCTRINE AND PRACTICE OF YOGA BY SWAMI MUKERJI, YOGI OF THE SOUTH INDIA ORDER