Yoga is a timeless pragmatic science evolved over thousands of years dealing with the physical, moral, mental and spiritual well-being of man as a whole. The first took to systematize this practice was the classic treatise the Yoga Sutras (or Aphorisms) of Patarijali dating from 200 BC. I consider it important as well as interesting that the reader should know the origin of asanas, and I have, therefore, included legends handed down by practising yogis and sages.