Yoga is one of the oldest and most comprehensive systems of health promotion and self-development originating from Indian civilization. Rooted in ancient philosophical traditions, Yoga aims to establish harmony among the body, mind, and spirit through the integrated practice of asanas (postures), pranayama (breathing techniques), meditation, and ethical disciplines. The present review examines the historical development, philosophical foundations, classifications, health benefits, and therapeutic applications of Yoga in contemporary society. The review traces the origins of Yoga from the Indus Valley Civilization and ancient Indian scriptures to its systematic formulation by Maharishi Patanjali through the Yoga Sutra and its subsequent global dissemination by eminent Yoga masters such as Swami Vivekananda. Various classifications of Yoga, including Raja Yoga, Hatha Yoga, Karma Yoga, Bhakti Yoga, Jnana Yoga, and Kriya Yoga, are discussed with reference to their distinct objectives and practices. The review further highlights the role of regular Yoga practice in enhancing physical fitness, muscular strength, flexibility, immune function, cardiovascular efficiency, respiratory health, digestive function, cognitive performance, and psychological well-being. Special emphasis is placed on the contribution of Yoga to the prevention and management of lifestyle-related disorders and selected health conditions, including constipation, acidity, asthma, diabetes mellitus, insomnia, menstrual disorders, and haemorrhoids. Evidence suggests that Yoga serves as an effective complementary approach for improving physiological functioning, reducing stress, promoting emotional stability, and enhancing overall quality of life. Although Yoga should not replace conventional medical treatment, its integration into healthcare, education, sports training, and community wellness programs offers significant potential for promoting holistic health. The review concludes that Yoga remains a scientifically relevant and universally applicable practice capable of contributing substantially to preventive healthcare, disease management, and comprehensive human development in modern society.