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Yoga can be generally defined as unification and relationship. What kind of unification? It means the unification of one self, in this case the soul (Atman) with the mighty god so that the life of the creatures will be based on the divinity awareness. By practicing it, hopefully the peaceful in the world can be created. Yoga is a life practice which is the application of Veda containing the life guidance and also soul evolution. Veda is the vision of god to holy man called Rsi in the past, and compiled by Maharsi Wyasa which is also known as Hyang Kresnadwipayana, with the assistance of his students: Rsi Pulaha (Paila) who compiled Rg Veda, Rsi Jaimini compiled Sama Veda, Rsi Waisampayana compiled Yajur Veda, and Rsi Sumantu who compiled Atharwa Veda. The development of this theory happened in the valley of holy river ‘Sindhu’, located in Bhatarawarsa, India. The theory of Veda generally guides us to believe in five things:

1. Brahman, believe in the mighty God and all of the aspects.
2. Atman, believe in soul which is the spirit that makes the creatures alive.
3. Karmaphala, believe in the law of cause and consequence of everything we do.
4. Punarbhawa, believe in reincarnation.
5. Moksa, believe in eternal happiness, the unification of the soul with the mighty god.

Furthermore, the development of the theory of Veda in India was divided into four period, they were:
   1. Veda period (2500 BC) Veda was started to be taught to the Arya people and then began to spread
       in the valley of Gangga and Yamuna. In this period, the theory of yoga was centralized on the
       sense of devotion towards God. Worship was the main characteristic of the application of this Yoga.
       At that time, people really hanged themselves on God, not because of afraid, but it was caused
       by their sense of whole-hearted devotion.

   2. Brahmana period (1000 BC) At this time the application of Yoga was centralized on whole-hearted
       sacrifices or offerings. There was a belief that holy offerings would bring the supernatural power of
       god to protect the human being. Then, various kinds of ceremonies based on the need and situation
       began to appear. It aimed to vibrate the balance of this world.

   3. Upanisad period (800 BC) Upanisad itself means sit near to teacher. At this period the theory of
       Yoga began to be taught by the holy men (teachers). The people started to bring themselves closer
       to the teacher to practice Yoga and Spiritual. They started to learn about God and all of his
       creations through thinking capacity and synthesis analysis. People wanted to know what god is and
       why should we be in this world. What is that for? The people tried to understand about the essence
       of life in the world.

   4. Tantrayana period (600 BC) At this period, the theory of Yoga was centralized on supernatural
       power. People yearned for the power owned by the god and wanted it to be theirs. They want to be
       as powerful as the god. That was why, the practice of Yoga and all its branches then appeared.
       At this time, Siwa and and supernatural power became the object of the Yoga practice.
       The spreading of Yoga from India to Indonesia was handled by Maha Rsi Agastya who came from
       Kasi, Benares, India. The spreading of Yoga in Indonesia couldn’t be separated from the history of
       the kingdoms in Indonesia, such as:
              • The kingdom of Kutai, with the king named Mulawarman, the son of Aswawarman, the
                 grandson of Kudungga in the year of 400.
              • The kingdom of Tarumanegara in west Java including the area of Bogor, Jakarta, and
                 Banten/ Lebak Munjul, with the king named Purnawarman in the year of 400-500.
              • The kingdom of Kalingga in the middle part of Java with the queen named Ratu Sima in the                  year of 650.
              • The kingdom of Sriwijaya in Sumatra, with the king named Hyang Sri Jayanasa in the year
                 of 684.
              • The kingdom of Mataram in the middle part of Java with the king named Sanjaya in the year
                 of 732.
              • The kingdom of Kanjuruhan in Dinoyo village, Malang, East Java with the king named
                 Dewasimha in the year of 760.
              • The kingdom of Isanawangsa in East Java with the king named King Sindok in the year of
                 929-947. The other kings were Dharmawangsa in the year of 991-1016, and Airlangga in the
                 year of 1019-1042.
              • The kingdom of Kediri with the last king named Kertajaya in the year of 1042-1222.
              • The kingdom of Singhasari which was located in Malang in the year of 1222-1292, with the
                 kings started from Tunggul Ametung, Ken arok, Anusapati, Tohjaya, Ranggawuni,
                 and Kertanegara.
              • The kingdom of Majapahit in the year of 1293-1528 with the kings named Kertarajasa
                 Jayawardana, Jayanegara, Tribhuwanattunggadewi, and Rajasanegara Wikramawardhana.
              • The kingdom of Pajajaran in Cibadak, Sukabumi in the year of 1521-1579 with the last king
                 named Prabu ratu Dewata.

The development of Yoga until it reached Bali
It is mentioned in the history that Bali and Seleparang which is now famous as Lombok were floating. That was why at that time Bali was known as Nusa kambangan which means the floating island. Hyang Pasupati, a yogi from East Java pitied the condition of Bali which was very poor. He then meditated to ask for help from Bedawangnala ( a giant turtle), a dragon named Ananta Boga with the kundalini power from the water, a dragon named Taksaka with the kundalini power from the air, and the dragon named Basukih with the kundalini power from fire to move the part of Semeru mountain to Bali and Lombok. In Bali it became Agung Mountain, and in Lombok became Rinjani Mountain. It happened in the year of 89. In the year of 109, Hyang Pasupati asked his children, Betara Hyang Genijaya, Betara Hyang Putranjaya, and Betari Hyang Dewi Danuh to go to Bali and keep the island in balance and harmony. Betara Hyang Genijaya lived in Lempuyang mountain which is now becomes Lempuyang temple, Betara Hyang Putranjaya lived in Agung mountain which is now named Besakih temple, and Betari Hyang Dewi Danu hived in Ulun Danu Batur, which is known as Ulun Danu Batur temple. As they came to Bali, the condition of Bali was getting better. Then the other Hyang from Java also came to Bali, they were : Hyang Tenuwuh lived in Batukaru mountain which is now becomes batukaru temple, Betara Manik Gumawang lived in Beratan mountain Bedugul, Betara Manik Galang in Pejeng, and also Betara Hyang Tugu lived in Andakasa mountain which is now called Andakasa temple.

Furthermore, Rsi Markandya meditated in the area of Demalung, Dieng Mountain. He then went to east and meditated in Raung Mountain, East Java with his 400 followers. He went to Bali to save the island, he went directly to Agung Mountain but unfortunately all of his followers died because of disease. Facing that fact, he returned to Raung Mountain and started to meditate again. After that, with 8oo followers he went to Bali again. He went to Tohlangkir which is now called Besakih. In his meditation, he got a vision from god to plant Panca Datu or five kinds of metals if he wanted his followers to be safe. Panca Datu are just like an antenna which is planted to access the energy of the entire world in order to keep it in balance. This ritual is still done until now in Bali. After doing this ritual, he continued his journey to the west in the area of Ubad which is now named Ubud. He was so attracted with the situation of this place; so that he chose this place as the first place he spread his theory. As the symbol of his origin, in the area of Taro, in the north of Ubud he built a temple named Gunung Raung temple which has the same name with the mountain in east Java. In the south of that temple, in the area of Payogan village he built a place for meditating and practicing yoga named Pucak Payogan temple (it is the place where Guru Made Sumantra was born). And in the area of Campuhan Ubud he built Gunung Lebah temple. It is also mentioned in the history that there were so many holy men (Rsi) from Java came to Bali in order to help the spiritual and peacefulness of Bali. All of the Rsi also spread the theory of Yoga. As the result, many ideologies of Yoga with various backgrounds such as Hindu, Buddha, Shinto and Tao then appeared. Those ideologies then melted and united, so that a unique Yoga named Ancient Bali Yoga came into being. The spreading of Yoga couldn’t also be separated from the protection of the kings in Bali as what happened in the land of Java. Those kings were:

• Sri Kesari warmadewa in Bedahulu in the year of 882-915.
• Sri Ugrasena Warmadewa in the area of Bedahulu and Tampak Siring in the year of 915-942.
• Sri Candrabhaya Singha Warmadewa in the year of 942-991.
• Sri Dharma Udhayana warmadewa, in the year of 991-1018.
• Sri Whardana Markata pangkaja Tunggadewa in Gunung Kawi Tampak Siring in the year
  of 1018-1049.
• Sri Aji Hungsu in Gunung kawi Tampak Siring in the year of 1049-1077.
• Ratu Sakalindhu Kirana in Gunung Kawi Tampak Siring in the year of 1077-1101.
• Sri Suradipha in Gunung Kawi Tampak Siring in the year of 1101-1119.
• Sri Jayasakti in Gunung Kawi Tampak Siring in the year of 1119-1150.
• Sri Jaya Pangus in Dharma Anyar asceticism in the year of 1150-1181.
• Sri Hekajaya in Bedahulu in the year of 1181-1200.
• Sri Dhanadhiraja in Bedahulu in the year of 1200-1204.
• Sri Masula Masuli in Bedahulu in the year of 1284-1328.
• Sri Yapolung in the year of 1328-1343, and finally the kingdom of Bali was attacked by the
  kingdom of Majapahit. At this time, Gajah Mada proclaimed Palapa oath.
• Dalem Ketut Kresna kepakisan in the year of 1352-1380. At this time, Bali was defeated by
  Gajah Mada and finally he chose Dalem ketut Kresna Kepakisan as a king.
• Dalem Ketut Smara Kepakisan in Gelgel, Klungkung in the year of 1380-1560.
• Ratu Sakalindhu Kirana in Gunung Kawi Tampak Siring in the year of 1077-1101.
• Sri Waturenggong in the year of 1458-1550. At this time, then Danghyang Nirartha from
  Majapahit came to Bali to spread his Yoga theory until he reached Lombok and Sumbawa
  Island. He owned an ashram in Mas village, Ubud Bali. He then built several temples around
  Bali, such as : Purancak and Rambut Siwi temple in Negara, Pulaki and Ponjok Batu temple
  in Buleleng, Tanah lot temple in Tabanan, Peti tenget temple in Kuta, Uluwatu temple in
  Badung, Air jeruk temple in Mas Ubud, and also Batu Klotok temple in Klungkung. After that,
  Hyang Dwijendra and Asthapaka from Blambangan, east Java also came to spread the theory
  of Buddha Mahayana Yoga. They lived in Serangan Island with the temple named Sakenan
  temple. Then, they moved to Karang asem Budha Keling. Until now, the Balinese people are
  still discipline and obedient in practicing the theory given by their ancestors.