Matan1: From Wikipedia (read more there for more; bold mine)
[1] in Hinduism, Buddhism (including Vajrayana and Tibetan Buddhism[2][3][4]) and Jainism,[5][6][7][6] the best-known being Hatha yoga and Raja yoga. The term yoga is derived from the literal meaning of “yoking together” a span of horses or oxes,[1] but came to be applied to the “yoking” of mind and body.[1]
The origins of Yoga may date back to pre-vedic Indian traditions. The earliest accounts of yoga-practices are to be found in the Buddhist Nikayas.[8] Parallel developments were recorded around 400 CE in the Yoga Sutras of Patanjali,[9] [10][11]”
Most ancient Far East martial arts contain aspects of A”Z at their core, though Yoga and Tai Chi are by far the worst.