when was yoga invented

Yoga originated over 5,000 years ago in ancient India, as part of the Indus Valley Civilization around 2700 BCE. The earliest mention of yoga is found in the Rig Veda, an ancient sacred text. The word "yoga" itself comes from the Sanskrit word "yuj," meaning "to join" or "to unite," with the aim of harmonizing body, mind, and spirit. Archaeological evidence, such as seals depicting yoga postures, supports yoga's existence during the Indus-Saraswati Civilization. Yoga was gradually refined through various Indian philosophical texts, including the Vedas, Upanishads, and Bhagavad Gita. The classical systematic presentation of yoga was compiled by sage Patanjali in the form of the Yoga Sutras, estimated to date from between 500 BCE and 400 CE. While yoga's roots are ancient, the form of yoga widely practiced today, especially the physical postures, developed more distinctly in the late 19th and 20th centuries during a renaissance influenced by Indian revivalists and modern physical culture.