Yoga predates all religion. When the idea of religion did not yet exist in human mind, yoga was.

The purpose of Yoga is to live strong. Strong not just in body but as a Strong Life.

Yoga means breaking the cyclical process of life and making it a straight line.

When you experience everything as a part of yourself, you are in Yoga. That is liberation, that is mukti, that is ultimate freedom.  

A ball can change the world. It's not about the ball nor kicking nor the cup. It's sheer intensity of involvement. Knowing this in life is yoga.