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Pre – philosophical speculations and diverse ascetic practices of first millennium BCE were systematized into a formal philosophy in early centuries CE by the Yoga Sutras of Patanjali.

By the turn of the first millennium, Hatha yoga emerged as a prominent tradition of yoga distinct from the Patanjali's Yoga Sutras.

While the Yoga Sutras focus on discipline of the mind, Hatha yoga concentrates on health and purity of the body.