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Which veda mentions about the elements of yoga

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which veda mentions about the elements of yoga
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Rigveda mentions about the elements of yoga

Yoga originated in India in ancient times. This is evidenced by the oldest written Indian culture that has come down to us, the Vedas - a collection of the oldest sacred books in the Sanskrit language. The Vedas consist of  4 parts:

Rigveda (veda hymns)

Samaveda (Veda of Cheers)

Yajurveda (veda sacrificial formulas)

Atharvavaeda (The Veda of Spells).

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