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I'm barely beginning to delve into this world and have pretty much no knowledge of Hinduism. But most of the time what we call yoga in the west is just a physical practice akin to a sport, mostly with the goal of getting and being healthy, whereas when you read about the philosophy of yoga, you realize that there are a lot of different yoga schools/practices that promote different things, some without even any physical component to them. The original purpose of yoga, as I understand it, was to put ourselves in the right path to liberation and the end of suffering. The meaning/etymology of the word yoga is union or to unite.