The Yoga which is considered to have arisen from the Samkhya philosophy has its primary text as the Bhagavad Gita.

It explores the four primary systems of the Karma-Yoga, the Buddhi-Yoga, the Dhyana-Yoga and the Bhakti-Yoga.

Being many million years old, the Yoga is essentially described as a universal method of union with the Supreme.

The sage Patanjali wrote an influential text on Raja Yoga or the meditational Yoga entitled as the Yoga Sutra.

The Yoga school not only incorporates the concept of Ishvara, but it also upholds Ishvara as the ideal upon which to meditate as Ishvara is the only aspect of Purusha that has not become entangled with Prakrti.

It utilizes the Brahman/Atman terminology and the concepts of the Upanishads.

It has elaborate prescriptions for gradually gaining physical and mental control over the personal self which occurs after one's consciousness has intensified enough to become aware of the real Self or the soul or the Atman as distinct from the feelings, the thoughts, and the actions.

The goal of yoga is the moksha, or the nirvana, or the samadhi.