“Yoga is Anu–Śāsana Śastra.
It is experiential, not speculative,
it is ancient, with its origin in the Veda.
Sages followed the Vedic teachings and
transmitted their experience to their students.
The students, in turn, learned and experienced the teachings
in their own lives, and thus became competent to teach.
In this way the lineage of Yoga teachers is established.”
– T Krishnamacharya on Yoga Sūtra Chapter One verse 1