Yoga is a family of body cultivation systems originating in India. They may have both martial and non-martial aspects, but are generally seeking insight into the energetic and physical systems of the body. While in the West, yoga systems may be overly focused on asanas, stretching, and modern forms of contortionism, yoga historically has a more holistic and deeper focus on the internal aspects of the body (see Mark Singleton's Yoga Body).

Rickson Gracie is known to emphatically practice forms of Yoga and breathing exercises he learned from Orlando Cani in Brazil, and thus credits much of his martial prowess to his practice of Yoga.