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In this period, the teachings were transmitted from master to student, using both oral and written traditions. These are the teachings found in the Bhagavad Gita,3 Upanishads,4 and Patanjali’s Yoga Sutras5 and Hatha Yoga texts. Even in ancient times, many types of yoga were taught, although the four main pillars were Karma Yoga (path of right action), Bhakti Yoga (path of devotion), Jnana Yoga (path of knowledge), and Raja Yoga (royal path to liberation). Feuerstein6 has described 40 types of yoga ranging from Abhava Yoga (the unitive discipline of non-being) to Yantra Yoga (the unitive discipline of focusing the mind on the geometric representations of the cosmos). Of these, the main ones that have survived into the modern age are the Ashtanga Yoga teachings of Patanjali and the Hatha Yoga teachings of the natha yogis.7