The word Yoga comes from the Sanskrit root 'yuj' which means 'to join'. Yoga is the science that teaches us the method of uniting the individual soul with the Supreme Soul. Yoga is not acrobatics, magic, or torture. LYoga is a study of human body and mind, but not a religious cult.
Patanjali formulated this science into a definite system under the name of Ashtanga Yoga or Raja Yoga.
Meditate to connect with your inner self. You can experiment With Different Types Of Meditation, as there is no one way of meditating that is right. Simple steps to getting started:
Get Comfortable. Ideally, you sit up straight. Relax your jaw, your neck, your shoulders. Place your hands, palms up, on your knees.
Breathe Deep: To begin, take a deep breath in through your nose filling up your stomach like a balloon, and then
exhale out through your mouth. Repeat this few more times. This will help your body and mind relax.
Focus On Your Breath: After your five initial deep breaths, continue breathing in and out through your nose. Focus on your breath as it goes in and out. If your mind wonders, that’s okay. Don’t be mean, don’t judge your thoughts, just notice them, let them go, and then bring your attention back to the rhythm of your breath going in and out.
Repeat Daily: Make meditation a daily part of my life. It doesn’t matter if it’s only for 5 or 10 minutes to start with.
There are thousands of manuals on yoga, including classical traditions of yoga, particularly hatha yoga. Postures and other practices like Pranayama (breath control), and dharana is gaining popularity. There are many yogic traditions in different parts of the world under different names. Just listing few links.