The terms hatha-yoga, karma-yoga, jnana-yoga, bhakti-yoga, laya-yoga and others are familiar to everyone and they play an important role in positioning yoga as a system. Although they are not used in Yoga Sutras (except for the term kriya-yoga), these terms are rather old and one can find them already in Mahabharata [1]. This division of yoga into types was often mentioned in yogic Upanishads and other medieval texts. For European people this division (in some simplified version: only hatha, raja, karma, bhakti and jnana yoga) became available due to Vivekananda.
