sanas originated in India. In his Yoga Sutras, Patanjali (c. 2nd to 4th century CE) describes asana practice as the third of the eight limbs (Sanskrit: अष्टाङ्ग, aṣṭāṅga, from अष्ट् aṣṭ, eight, and अङ्ग aṅga, limb) of classical, or raja yoga.