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The aim of Ayurveda is health and well being, while the aim of Yoga
(both Patanjali and Hatha yoga) is moksha.
If we see both Patanjali and Hatha yoga we can say that they have
some common points but there are some differences as well. The
common points are that both systems move towards the same aim:
moksha.
The difference is that Patanjali focuses on meditation (internal
practice), while Hatha yoga focuses more on asana, pranayama,
mudra etc (external practices).
Another main difference is that since Patanjali has its root in the
dualistic Samkhya darshan, we see that there is a tendency toward
the separation between Matter and Spirit, while hatha yoga has its
root in the tantric philosophies and the tantric philosophy generally
sees matter (including the body) as an expression of pure
consciousness.
If we see the Bhavanopanishad (a late shakta Upanishad), one of
the main texts of the Sri Vidya tradition, we can see that the
physical body is associated with the Sri Yantra (the geometrical
representation of the Higher Principle), and its actually worshipped.
We could say that, apart from the differences, Hatha yoga in a
certain way is connected to Patanjali yoga, if we see Hatha yoga as
the external yoga taught by Patanjali.
Modern Yoga
Now going back to modern yoga.
As we said in the beginning, modern yoga seems to be almost
exclusively focused on the body/physical aspect, and often the fact
that the practice is so asana centric, can bring the modern
practitioner far from what the aim of yoga is.
Traditionally the texts speak of 82 asanas; today probably we have
thousands of them.
Often the asana becomes just a fitness practice or performance and
in a way the practice can become more associated with Bhukti
(pleasure) then with Mukti (liberation), the original aim of yoga.
Now lets try to answered the main question:
How might a contemporary teacher of Yoga respond to the
criticism that modern practice is inauthentic because it does not
properly reflect Patajalis teachings on Yoga?