is it related to mahabharata?
Yes
Yoga
Description of an early form of yoga called "nirodhayoga" (yoga of cessation) is contained in the Mokshadharma section of the 12th chapter ("Shanti Parva") of the "Mahabharata"
what is the meaning of yoga in hinduism The term "Yoga" in the Western world often denotes a modern form of hatha yoga and yoga as exercise, consisting largely of the postures or asanas what is its goal? The ultimate goal of Yoga is "Moksha" what is meant by this last term? Moksha also called vimoksha, vimukti and mukti, is a term in Hinduism, Buddhism, Jainism and Sikhism for various forms of emancipation, enlightenment, liberation, and release from where has it evolved? The concept of "moksha" appears much later in ancient Indian literature than the concept of "dharma" what reference in texts do we get about the above form of exercise? The first use of the root of the word "yoga" is in hymn 5.81.1 of the Rig Veda, a dedication to the rising Sun-god in the morning (Savitri), where it has been interpreted as "yoke" or "yogically control".
wiki:19654916
Yoga [SEP] Mahabharata and Bhagavad Gita
Description of an early form of yoga called "nirodhayoga" (yoga of cessation) is contained in the Mokshadharma section of the 12th chapter ("Shanti Parva") of the "Mahabharata" (third century BCE). "Nirodhayoga" emphasizes progressive withdrawal from the contents of empirical consciousness such as thoughts, sensations etc. until "purusha" (Self) is realized. Terms like "vichara" (subtle reflection), "viveka" (discrimination) and others which are similar to Patanjali's terminology are mentioned, but not described. There is no uniform goal of yoga mentioned in the "Mahabharata". Separation of self from matter, perceiving "Brahman" everywhere, entering into "Brahman" etc. are all described as goals of yoga.