Young Sport Girl In Tight Yoga Pants

Yoga agrees with the essential metaphysics of Samkhya, but differs from it in that while Samkhya holds that knowledge is the means of liberation, Yoga is a system of active striving, mental discipline, and dutiful action. Yoga also introduces the conception of God. Sometimes Patanjali's system is referred to as “Seshvara Samkhya” in contradistinction to Kapila's "Nirivara Samkhya."
Bhagavad Gita
The Bhagavad Gita ('Song of the Lord'), uses the term "yoga" extensively in a variety of ways. In addition to an entire chapter (ch. 6) dedicated to traditional yoga practice, including meditation, it introduces three prominent types of yoga: