Yoga is a scientific system of self-investigation, self-transformation, and self-realization that originated in India. The teachings of yoga are rooted in the Vedas and grounded in classical texts and a rich oral tradition. This tradition recognizes that the human being’s essential nature is unchanging awareness that exists in relationship to and identification with the changing phenomena of the empirical world. The yoga tradition views humans as a multidimensional system that includes all aspects of body, breath and mind, intellect, emotions, and their mutual interactions. The practices of yoga traditionally include, but are not limited to, asana, pranayama, meditation, mantra, chanting, mudra, ritual, and a disciplined lifestyle.