Yoga,
The Sanskrit word yoga has the literal meaning of "yoke", from a root yuj meaning to join, to unite, or to attach. The goal of yoga, or of the person practicing yoga, is the attainment of a state of perfect spiritual insight and tranquility while meditating on Supersoul.
Hatha Yoga (referred to as the “psychophysical yoga"), is a particular system of Yoga described by Yogi Swatmarama, in 15th century India. Hatha Yoga differs substantially from the Raja Yoga of Patanjali in that it focuses on "shatkarma," the purification of the physical body as leading to the purification of the mind ("ha"), and "prana," or vital energy (tha). Compared to the seated asana, or sitting meditation posture, of Patanjali's Raja yoga, it marks the development of asanas (plural) into the full body 'postures' now in popular usage and, along with its many modern variations, is the style that many people associate with the word "Yoga" today.