The book is dedicated to the birth and development of Indian philosophical, ethical and aesthetic thought. The social and theoretical origins of various schools (darshan) are revealed - Charvaka-lokayata, Sankhya, Yoga, Nyaya, Vaisheshika, Jainism, Buddhism, Vedanta. The foundations of the methodology and methods of psychophysiological exercises and physical culture of yogis are given, without knowledge and consideration of which, as the experience of many yoga enthusiasts shows, mistakes in teaching and practice cannot be avoided. The direction of Vedaitism, its history, philosophy, sociology, ethics, aesthetics, as well as the connection of Vedanta with yoga, its main schools (karma yoga, bhakti yoga, jnana yoga, raja yoga) are examined in detail.