First published in 1982, A History of Yoga offers a comprehensive exploration of yoga’s evolution, from its origins before the Vedic age through its development in Hinduism, Buddhism, Tantrism, Zen, Tibetan traditions, and modern Hatha yoga. The book provides concise summaries of yoga’s major classics and profiles its most influential figures. Written for the general reader, it balances clarity and factual depth, making it an essential resource for understanding yoga’s historical and cultural significance.