Yoga originated in India. It is a physical or mental discipline designed to condition and invigorate the mind and body. There are many kinds of yoga, but they may be generally divided into three main types...

Hatha yoga -- affect the mind through the body using physical exercises; improve physical health and endurance.

Raja yoga -- affect the mind through mental training; improve concentration.

Mantra yoga -- affect the mind through chanting and affirmation; achieve relaxation.