Patanjali 300 BC.

Ziphunzitso za Patanjali zakhudza kwambiri momwe yoga imachitikira komanso kumvetsetsa masiku ano.Kugogomezera kwake pakuwongolera malingaliro kwakhala mwala wapangodya wa filosofi yamakono ya yoga, kutsogolera akatswiri kuti akwaniritse kumveka bwino kwamaganizidwe ndi mtendere wamkati kudzera muzochita za yoga.Kuzindikira kwake mozama m'malingaliro amunthu ndi kulumikizana kwake ndi thupi kwayala maziko a njira yokhazikika ya yoga yomwe imavomerezedwa kwambiri m'dziko lamasiku ano.Kuphatikiza pa Patanjali, pali ambuye ena asanu ndi anayi a yoga omwe apanga mawonekedwe amakono a yoga.Aliyense wa ambuyewa wapereka malingaliro ndi ziphunzitso zapadera zomwe zalemeretsa machitidwe a yoga.Kuchokera ku nzeru za uzimu za Swami Sivananda kupita ku upainiya wa BKS Iyengar popanga masitayilo a yoga, ambuyewa asiya chizindikiro chosasinthika pakusintha kwa yoga.Mphamvu za ambuye khumi a yogawa zimapitilira nthawi yawo, pomwe ziphunzitso zawo zikupitilira kulimbikitsa ndi kutsogolera anthu ambiri paulendo wawo wa yoga.Nzeru zawo zonse zathandizira kusiyanasiyana ndi kulemera kwa yoga yamakono, kupatsa akatswiri njira zambiri ndi njira zowunikira.Zotsatira zake, yoga yasintha kukhala njira yamitundumitundu yomwe imakwaniritsa zosowa ndi zokonda za akatswiri padziko lonse lapansi.Pomaliza, cholowa cha Patanjali ndi ambuye ena otchuka a yoga amapirira muzochita zamakono za yoga.Ziphunzitso zawo zapereka maziko olimba kuti amvetsetse za yoga monga machitidwe onse omwe amaphatikizapo malingaliro, thupi, ndi mzimu.Pamene akatswiri akupitiriza kulimbikitsidwa ndi ambuyewa, miyambo ya yoga imakhalabe yamphamvu komanso yosinthika nthawi zonse, ikuwonetseratu nzeru zosatha komanso kuzindikira kwakuya kwa omwe adayiyambitsa.