Apart from the development of yoga in ancient India, there is no consensus on its chronology or origin. There are two broad theories explaining the origin of yoga. The linear model assumes that yoga has Vedic origins, and has influenced Buddhism. This model is mainly supported by Hindu scholars. According to the synthesis model, yoga is the synthesis of indigenous, non-Vedic practices with Vedic elements. This model is favored in Western scholarship.
Speculation about yoga began to emerge in the early Upanishads of the first half of the first millennium BCE, with expositions appearing in Jain and Buddhist texts as well. 500 – c. 200 BC Between 200 BCE and 500 CE, traditions of Hindu, Buddhist and Jain philosophy were taking shape; The teachings were collected in the form of sutras, and a philosophical system of Patanjali’s science began to emerge. The Middle Ages saw the development of several yoga satellite traditions. This and other aspects of Indian philosophy came to the attention of the educated Western public in the middle of the 19th century.