The word Yoga is derived from the Sanskrit root “Yuj,” which means to yoke, join, unite, or integrate. Etymologically, it signifies the union of the individual self with the universal self, or the harmonization of body, mind, and spirit. The term also conveys the idea of discipline and control, especially the control of the mind and senses. In ancient Indian tradition, Yoga represents both a state of union and the practices that lead to that state. Thus, the etymology of Yoga reflects its dual meaning: a process of integration and the ultimate experience of oneness. In the Vedas, the earliest sacred literature of India, Yoga is indirectly referred to as a spiritual discipline that connects the human consciousness with the divine reality. Though the term is not elaborately defined in the Vedas, the concept of inner discipline and meditation is present in many hymns. The Upanishads provide clearer philosophical interpretations. In the Katha Upanishad, Yoga is described as the firm control of the senses, where the mind becomes still and the intellect is steady. It compares the body to a chariot, the senses to horses, the mind to reins, and the intellect to the charioteer, emphasizing self-mastery as the essence of Yoga. One of the most authoritative classical definitions of Yoga is found in the Bhagavad Gita. In this text,