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Dharma (धर्म) explanation : follow your guts and what resonates positively inside you.
Understanding Dharma (धर्म): Follow Your Inner Voice and Positive Resonance
Origins of Yoga: Exploring the History and Postural Practices"
The Yoga postures were developed thanks to exchanges and back and forth of yoga ideas between the Orient and the West. It became popular at the end of the XIX century, notably with its exportation to the West by Swami Vivekananda (focused of pranayama and meditation). Then by Sri. T. Krishnamacharya ("the father of Modern Yoga"). His students will develop, at a larger stage, the modern yoga that we practice today.