Yoga requires a firm physical, mental and moral discipline and a dedication to practice without being deterred by the difficulties. The process of karma and rebirth must be fully understood, along with the action of the three gunas and their effects. This knowledge is clearly enunciated in the Samkhya Sastras, the Yoga Sutras of Patanjali and the Upanisads (Vedanta). The Yoga Sutras of Patanjali are widely acknowledged as the fundamental teaching on Yoga meditation Yoga arose from the Sanatana Dharma, the ancient eternal spiritual tradition of India, and originates from the revelations embodied in the Vedas, Upanishads, Bhagavad Gita, Yoga Sutras, Samhkya Sutras and other authentic teachings. Samkhya and Yoga were taught by the Risis (sages) Kapila, Patanjali and Yagnavalkya who propagated the path of liberation known as Nivrtti — dharma. The goal of this practice is spiritual liberation from corporeal existence known by the terms, moksa, mukti, kaivailya or nirvana.
