Nobody knows precisely at what moment or what time and which space this creation started, even though through science we can map through that and fix it as a chronological timings.
When man developed, he cultivated himself and began to realize his own potential. Through this came civilization. Then he developed the concepts of god, nature, religion and yoga was developed.
Since it is very difficult to define these concepts, each man has to interpret them according to his understanding. When man caught in the polarities of life likewise pleasures and pain, good and evil, love and hatred, the permanent and transient, both in the physical and the mental levels, he felt the need of a system which can integrate him and make him unaffected by these polarities. Thus he developed called yoga.

The word yoga is derived from the Sanskrit root "yuj" which means to bind, join, attach. Yoga therefore is the art which brings an incoherent and scattered mind to a reflective and coherent state. It is a communion of body, mind and soul or consciousness.

The system was first collated and written down by Patanjali, in his Yoga Sutras, or Aphorisms. Patanjali evolved 8 stages on the path of realization, and divided the yoga system into 8 stages, namely:yama, niyama, asana, pranayama, pratyahara, dharana, dhyana and samadhi comparing to the tree, and saying, like a tree has roots, trunk, brunches, leaves, bark, sap, flowers and fruits.