No yoga is not a religion. It is a philosophy and a spiritual practice and many people with different religious beliefs find it is a complement to their faith.
The history of yoga is estimated to be about 5000 years old, however there is evidence that even in earlier times people were already practicing yoga in some form.
Yoga is a philosophy and the father of the philosophy is said to be “Patanjali” . Patanjali wrote the ‘Yoga Sutra’. These 196 sutras provide a framework for spiritual growth and mastery over the physical and mental body.