Developed in India, Yoga is a psycho-physical discipline with roots going back about 5,000 years. Today, most Yoga practices in the West focuses on the physical postures called "asanas," breathing exercises called "pranayama," and meditation. However, there's more to it than that, and the deeper you go the richer and more diverse the tradition becomes. The word "Yoga" means union. Linguistically, it is related to the Old English "yoke." Traditionally, the goal of Yoga is union with the Absolute, known as Brahman, or with Atman, the true self. These days the the focus is often on the more down-to-earth benefits of Yoga, including improved physical fitness, mental clarity, greater self-understanding, stress control and general well-being. Spirituality, however, is a strong underlying theme to most practices. The beauty of Yoga is in its versatility, allowing practitioners to focus on the physical, psychological or spiritual, or a combination of all three.