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How yoga came into existence? How yoga came? Yoga came into existence in northern India over 5,000 years ago. The Rig Veda, a collection of ancient religious books, is where the word “yoga” first appears. Four ancient religious books known as the Vedas were originally authored in Sanskrit. It’s believed that yoga has been performed from the very beginning of human civilization. Even before the first religions or cultural beliefs were established, the science of yoga was developed. Shiva is considered the first yogi, or Adiyogi, as well as the first Guru, or Adi Guru, in yogic literature.