Yoga is a way of life, and your life is yoga.
Yoga asanas/postures are a way to start the process for our mind to be in conscious awareness. The goal is to calm our mental activity and open our spiritual center.
Yoga began with the Vedas and ancient Tantra 5 000 years ago. The earliest text, written, 2 500 years ago, is the Bhagavad Gita, the Lord´s Song.
Patanjali known as the father of yoga, did for 1 800 years ago expand the Bhagavad Gita into Yoga Sutras.