Final answer:
Yoga is an ancient system of exercise that originated in India and emerged as a practice during the first millennium BCE. The teachings of sage Patanjali have greatly contributed to the development of Yoga.
Step-by-step explanation:
Yoga is an ancient system of exercise that originated in India. It first emerged as a practice during the first millennium BCE and was influenced by the Upanishadic period as well as the Vedic period. The teachings of sage Patanjali, compiled into the Yoga sutras, have greatly contributed to the development and understanding of Yoga.