Yoga is hugely popular around the world today, yet until now little has been known of its roots. This book collects, for the first time core teachings of yoga in their orginal form, translated and edited by two of the world's foremost scholars of the subject, It includes a wide range of texts from different schools of yoga, languages and eras: among others, key passages from the early Upanisads and the mahabharata, and from the Tantric, Buddhist and Jaina traditions, with many pieces in scholarly transaltion for the first time. Covering yoga's varying definitions across systems, its most important practice, such as posture, breath control, sensory withdrawal ad medition , as well as models of the esoteric and physical odies Roots of Yoga is a unique and essential source of knowledge.