Sage Dattatreya divides yoga into mantrayoga, layayoga, hathayoga and rajayoga. Hathayoga is further divided into the yoga of munis and siddhas.

The Hatha-yoga corpus of texts unequivocally proclaims that the goal of yoga is the union of atman with paramatman. Academics tend to de-emphasize this aspect.

The metaphysics of yoga is purely Vedantic but the methods of reaching the goal are different in Vedanta and yoga.

The text teaches a technique called śāmbhavi mudra, to achieve a state of no-mind.

A vast yogic sculptural treasure lay forgotten in hundreds of early temples across India. Here are a few important ones.