There are innumerable men and women, gurus, writers, holy persons, scholars, and enthusiasts who have all contributed to the development and evolution of contemporary yoga so innumerable, in fact, that it would take at least an entire book to just begin to honor them.Setu Bandha Sarvangasana, Dwi Pada Pitham Here, however, are a few important stories about some of the founding fathers of yoga as we have come to know it today. The Vedas, Upanishads, and Vedanta The history of yoga reaches as far back as the Vedic period, which began about 1500 B.C.E. Setu Bandha Sarvangasana, Dwi Pada Pitham This period of significant cultural development left behind a crucial legacy of literary contributions that formed the philosophical and spiritual roots for the development of Hinduism. The collection of scriptures left behind by the people of the Vedic age are known as the Vedas. The Vedas are classified into four categories according to content and chronology.