Yoga is mentioned in ayurvedic texts such as the Charaka Samhita. Yoga is important for dissolving physical stress and calming the mind before meditation, and is central to dinacharya, the ayurvedic routine. It is the ideal ayurvedic exercise, because it rejuvenates the body, improves digestion, and removes stress.

Yoga is important for dissolving physical stress

Abhyanga (“oil massage“) is a form of Ayurvedic medicine that involves massage of the body with dosha-specific warm herb infused oils. … The Abhyanga is a part of the Dinacharya (daily practices) specified by the Brhat Trayi and Laghutrayi series of Ayurvedic textbooks to maintain good health and well-being.
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