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Yoga was not "invented" by a single person but rather evolved over thousands of years in ancient India. However, the foundational principles of yoga are attributed to Sage Patanjali, who compiled the Yoga Sutras around 200 BCE to 400 CE. His work systematized yoga into a structured practice, defining its philosophy and techniques.

Historical Development of Yoga:

1. Pre-Vedic Period (Before 1500 BCE):

   • Yoga concepts are believed to have existed in the Indus Valley Civilization (~3000 BCE).
   • Seals from this period depict figures in meditative postures.

2. Vedic & Upanishadic Periods (1500–500 BCE):

   • The Rig Veda and Upanishads mention yogic concepts like breath control and meditation.
   • The Bhagavad Gita (c. 500 BCE) describes Bhakti (devotion), Jnana (knowledge), and Karma (action) Yoga.

3. Classical Period (~200 BCE – 500 CE):

   • Patanjali’s Yoga Sutras formalized the "Eight Limbs of Yoga" (Ashtanga Yoga), which include ethical principles, meditation, and physical postures.

4. Medieval & Modern Periods (500 CE – Present):

   • Hatha Yoga (physical postures and breath control) developed around the 11th century.
   • In the 19th and 20th centuries, yogis like Swami Vivekananda, Tirumalai Krishnamacharya, and B.K.S. Iyengar popularized yoga worldwide.

Conclusion:

While Sage Patanjali is credited with structuring yoga, its origins date back thousands of years as a spiritual and physical discipline developed by various sages and traditions in ancient India.