Illuminating the history, philosophy and practice of classical Indian Yoga, the book gives a holistic view of ancient spiritual teaching, the ideas and principles of which were systematized by sage Patanjali in the legendary treatise Yoga Sutra and commented on by the medieval philosopher Vyasa in Yoga Bhashya. For some topical problems, an analysis of the correlations of the ideas of classical and modern yoga (Agni Yoga) is carried out.