There are various paths of Yoga that lead toward the goal of balance, or union (the union of mind, body and spirit) each one a specialized branch of one comprehensive system:
Hatha Yoga — a system of physical postures, or asanas, whose higher purpose is to purify the body, giving one awareness and control over its internal states and rendering it fit for meditation.
Karma Yoga — selfless service to others as part of one’s larger Self, without attachment to the results; and the performance of all actions with the consciousness of God as the Doer.
Mantra Yoga — centering the consciousness within through japa, or the repetition of certain universal root-word sounds representing a particular aspect of Spirit.
Bhakti Yoga — all-surrendering devotion through which one strives to see and love the divinity in every creature and in everything, thus maintaining an unceasing worship.
Jnana Yoga — the path of wisdom, which emphasizes the application of discriminative intelligence to achieve spiritual liberation.
Raja Yoga — the royal or highest path of Yoga, immortalized by Bhagavan Krishna in the Bhagavad Gita and formally systematized in the second century B.C. by the Indian sage Patanjali, which combines the essence of all the other paths.