According to Geoffrey Samuel, the "best evidence to date" suggests that yogic practices "developed in the same ascetic circles as the early śramaṇa movements (Buddhists, Jainas and Ajivikas), probably in around the sixth and fifth centuries BCE." This occurred during India's second urbanisation period. According to Mallinson and Singleton, these traditions were the first to use mind-body techniques (known as Dhyāna and tapas) but later described as yoga, to strive for liberation from the round of rebirth.
according to geoffrey samuel the "best evidence to date" suggests that yogic practices "developed in the same ascetic circles as the early śramaṇa movements (buddhists jainas and ajivikas) probably in around the sixth and fifth centuries bce" this occurred during india's second urbanisation period according to mallinson and singleton these traditions were the first to use mind-body techniques (known as dhyāna and tapas) but later described as yoga to strive for liberation from the round of rebirth