The way to do all these have been described in the two main texts of Hindu Yoga : the Bhagavad Gita and the Yoga Sutras . The Upanishads also contain important texts about yoga . Texts dedicated to Yoga include the Bhagavad Gita , the Yoga Sutras , the Hatha Yoga Pradipika , and , as their philosophical and historical basis , the Upanishads .