The popularization of yoga in the West by yoga schools influenced by the Yoga Sutras Of Patanjali (2nd century BC), have almost led to the origins yoga of yoga being linked with Patanjali in the Western mind.
But there are evidences against it.
In fact, the earliest illustration we have of yoga is from the Mohenjo-daro seals. Mohenjo-Daro is the remains of an ancient city located in Pakistan, part of the Indus Valley civilization which yoga yoga existed along the Indus river and Ghaggar-Hakra river in north-west India and what is now Pakistan. Mohenjo-Daro’s parent city was Harrapa in India. These civilizations have been dated from 3300 BC to 1300 BC. The Mohenjo-daro seals yoga show a figure standing on its head, and another sitting cross yoga legged.
Some see yoga’s origins as being from the Vedic shastras, or vedic religious texts, which are the foundation of Indian Hinduism. The Vedic texts were created from 2500 BC, and the Rigveda is believed to have been completed by 1500 BC yoga. The Rigveda is one of several principle early vedic texts. A lot of these texts were concerned with sacrificial rituals. There are sacrificial prayers, incantations, and elements related to magic, to name a few aspects of the subject matter. These are now viewed symbolically, or philosophically, although they were presumably intended more literally at the time. But the word “yoga” was discussed in the RigVeda. In it, there is mention of ‘yoking’ our mind and insight to the ‘Sun Of Truth’ (David yoga Frawley, a Vedic scholar).
Yoga is also discussed in the Bhagavad Gita, where Krishna describes 4 types of yoga: * selfless action - in following one’s soul path, one’s dharma, first and foremost, and without thinking of the outcome, the end result, or being motivated by self gain (Karma Yoga) * self transcending knowledge (Jnana yoga) * psycho-physical meditation (Raja yoga) * devotion - loving service to the Divine Essence (Bhakti yoga) (Source - Wikipedia) The Bhagavad Gita is believed to have been written between the 5th and 2nd century BC.
So the Yoga is as old as Hinduism.