Hi, I do yoga every day since it helps me relieve stress and anxiety!. 
Yoga is is a group of physical, mental, and spiritual practices 
I see, and what types of yoga are there?
Depending on whether you are  Hinduism, Buddhism, and Jainism, it is quite broad and varies
I see, and when did yoga originate?
Asia, but to answer your previous question properly, the types that are common and well known are Hatha yoga and Rāja yoga
Do you know more about Rāja yoga? i have never even heard of it! 
The origin dates back to  pre-Vedic Indian traditions
That must have been a long time. What are the benefits of doing yoga?
gurus from India later introduced yoga to the West, following the success of Swami Vivekananda in the late 19th and early 20th century with his adaptation of yoga tradition, excluding asanas. Outside India, it has developed into a posture-based physical fitness, stress-relief and relaxation technique. Yoga in Indian traditions, however, is more than physical exercise; it has a meditative and spiritual core. One of the six major orthodox schools of Hinduism is also called Yoga, which has its own epistemology and metaphysics, and is
Yoga
Yoga (; ; ) is a group of physical, mental, and spiritual practices or disciplines which originated in ancient India. Yoga is one of the six orthodox schools of Hindu philosophical traditions. There is a broad variety of yoga schools, practices, and goals in Hinduism, Buddhism, and Jainism. The term "yoga" in the Western world often denotes a modern form of Hatha yoga, yoga as exercise, consisting largely of the postures called asanas.
The origins of yoga have been speculated to date back