Eternal truths are the part of beginningless time. A striking analogy would be the existence of Law of gravitation even before its sensational discovery. Similarly, Yoga was always there, people have only discovered it, evolved it, and improved it over the period of time. It’s the very nature of human consciousness. It solves the purpose of reconnecting us with the higher self, with higher intelligence, and connecting in the sense that this unity evolves us to a higher plane.
-