Haṭha yoga developed in the Nāth and tantric traditions from around the eleventh century and is set out in texts such as the Haṭhayogapradīpikā. Through postures, breath control, seals and locks it seeks to purify the body’s channels, raise kuṇḍalinī and reach absorption. Modern postural yoga descends largely from it.
Haṭha yoga
The yoga of force: medieval methods of posture, breath and energy for purifying the body and awakening kuṇḍalinī.
Also: Hatha yoga