Introduction

Yoga arose in the age of the Vedas and Upanishads. It had its beginnings among a healthy, powerful and independent community which had attained a high level of culture. The founders of the tradition were drawn from learned and aristocratic families, from the scholars and warriors. The great prophets of India were kings and princes, leaders of thought and rulers of men. They had the best their time could offer in education and culture, in power and pleasure}

—Sachindra Kumar Majumdar

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