The west came in contact with Yoga during the times of Plato and Aristotle who paid rich tributes to Indian philosophy in their works. These contacts were furthered with the Indian conquests of Alexander in the third century BC. Westerners who came to know about Yoga were more interested in mysticism. The formation of Asiatic Society of Bengal gave further fillip to Yoga. The society concentrated on studying all the culture and mysticism associated with India. Their research and translations included essays on the Vedas, yoga, and the poetry of Shankara. Many of the Indian epics and Vedas were translated into English. Bhagvat Gita was one of such translations. In the early 19th century, Yoga was introduced to the western world through translated works.

Modern Yoga arrived in the United States during the late 1800's. It can be attributed to many gurus, including Swami Vivekananda, and their apostolic works. The Germans also discovered the beauty of the Sanskrit language and Vedic mystery. Max Muller was the pioneer among the German scholars who contributed immensely to the popularity of Indian culture and mysticism. In the late 1800's and early 1900's, yoga masters began to travel to the west, attracting attention and followers. Hatha Yoga was the most popular Yoga form in the west. Slowly and gradually Yoga came to assume importance in matters related to health, peace, fitness and spirituality.