No It originated. It was handed down and has gone evolution. The earliest reference to Yoga was discovered when excavations were made from the Indus valley - an amazing strong and influential civilization in the early period. This culture developed around the long gone Sarasvati river and the Indus river in northern India and'd sewage systems as ancient as 2,600 BC.
The History of Yoga is described as four periods:
History of Yoga
It Was in this period the belief of the body as a temple had been revived and yogis made a clinic to rejuvenate the body and to prolong life. It was required to escape reality; rather the focus was living in the moment and on the correct path. The exploration of the spiritual and the bodily halves and the necessity to harmonize the mind, body and spirit led to the creation of Tantra yoga, to cleanse the entire body and brain, and also to Hatha yoga in the tenth or ninth century.