Yoga Therapy has its roots in the millennia-old traditions of yoga, but its modern application took shape more recently, in the early 20th century, notably under the impetus of pioneers such as Tirumalai Krishnamacharya, who is often regarded as the father of modern yoga. He taught yoga not only as a spiritual and philosophical path, but also as a method for improving physical and mental health. His students, notably B.K.S. Iyengar and T.K.V. Desikachar, helped develop the therapeutic approach to yoga, adapting it to the specific needs of each individual.

However, the idea that yoga can be used as a therapy goes back to classical yoga texts such as Patanjali's Yoga Sutras, where yoga is described as a tool for calming the mind and improving quality of life. Ancient writings such as the Hatha Yoga Pradipika and the Bhagavad Gita mention the importance of pranayama (breathing techniques) and asanas (postures) in balancing body and mind, essential aspects that are at the heart of Yoga Therapy today.

The term "Yoga Therapy" as a specific discipline was officially recognized in the mid-20th century, with the work of doctors and researchers in India and the West beginning to investigate the therapeutic benefits of yoga for treating physical, mental and emotional disorders. The development of this discipline has also been influenced by modern approaches to holistic medicine, which see body, mind and emotion as interconnected systems. Yoga therapy has thus become structured as a holistic approach capable of treating a variety of pathologies, from chronic pain to anxiety disorders and cardiovascular disease.

Yoga Therapy is distinguished from other forms of yoga by its individualized approach. It is designed to adapt traditional yoga practices to the specific needs of the individual, whether to cure illness, alleviate symptoms or promote faster healing. In this context, yoga postures, breathing techniques and meditations are adapted and often simplified to make them more accessible to people suffering from various physical and mental disorders.

The modern history of Yoga Therapy has also benefited from the recognition of yoga as a therapeutic method in many medical disciplines. In India, it is an integral part of Ayurvedic medicine, and in many Western countries, Yoga Therapy is now recognized as a complementary approach to conventional medical treatment. Institutions such as the International Association of Yoga Therapists (IAYT) have been founded to promote research and training in the field of yoga therapy, contributing to the professionalization and scientific validation of this practice.

Today, Yoga Therapy continues to evolve, incorporating recent scientific discoveries about how the body and brain work to improve its techniques and broaden its scope of application. It is increasingly used in contexts of physical rehabilitation, stress management and the treatment of chronic illness, combining the ancient traditions of yoga with contemporary medical knowledge.