The word yoga refers to a multifaceted array of beliefs and practices. Yoga is twinned with sāṃkhya as one of the six orthodox darshanas (worldviews) of Hindu philosophy, with Patañjali’s Yogaśāstra having been codified by around the 5th century of the Common Era. A distinct body of texts known as the haṭhayoga corpus appears around the 11th century and emphasizes physical practices most likely used by ascetic communities. The ultimate aim of yoga is described by various words (e.g., kaivalya, samādhi, mokṣa, etc.); it is often described as an experience of an individual soul’s uniting with the divine, and/or becoming liberated from the material world. These historical precedents have continuities with contemporary yoga practices, and for many Indians today, yoga is understood as the essence of Indian spirituality. Yoga, however, took on new meanings in the late colonial period, becoming a mental, physical, and ethical discipline to aid in the struggle for an independent Indian nation state; a scientific, evidence-based practice to improve health and well-being; and a template for the evolution of an individual as well as humanity as a whole. At the same time, yoga kept an association with liberation and the realization of the ultimate nature of reality. In the early 21st century, all these meanings remain current in the Indian context, where yoga is continuing to experience a revival. In India, yoga is understood as a unique and valuable cultural resource that has the potential to revitalize both an individual’s health and the Indian nation-state, being an exemplar of the unique insights that Indian traditions can give to the rest of the world. Despite a notable shift in what is understood by yoga in the modern period, yoga continues to be a multivalent and increasingly popular practice in contemporary India.