which language was the former composed in?
Sanskrit
Yoga
The Sanskrit noun योग "" is derived from the sanskrit root " (युज्) " "to attach, join, harness, yoke". The word yoga is cognate with English "yoke". In the context of yoga sutras, the word Yoga means "Union".
who is believed to be the originator of yoga Ancient India traditionally, what is the primary aim of this exercise? The ultimate goal of Yoga is "Moksha" (liberation), although the exact form this takes depends on the philosophical or theological system with which it is conjugated. can you name some texts that expound this in the classical period? Rig Veda,  Upanishad
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Yoga [SEP] Etymology
The Sanskrit noun योग "" is derived from the sanskrit root " (युज्) " "to attach, join, harness, yoke". The word yoga is cognate with English "yoke". In the context of yoga sutras, the word Yoga means "Union". The spiritual sense of the word "yoga" first arises in Epic Sanskrit, in the second half of the 1st millennium BCE, and is associated with the philosophical system presented in the Yoga Sutras of Patanjali, with the chief aim of "uniting" the human spirit with the Divine spirit. The term "kriyāyoga" has a technical meaning in the "Yoga Sutras" (2.1), designating the "practical" aspects of the philosophy, i.e.