There are many different forms of yoga. Some of the forms include Raja Yoga, Jnana Yoga, Hatha Yoga, Vinyasa Yoga, etc. The mention of yoga can be seen in ancient scriptures like the Upanishads, the Bhagwad Gita, Hatha Yoga Pradipika, etc. Here, we will focus on hatha yoga. The other name given for this form of yoga is Hatha Vidya.