“How does Vedānta differ from Yoga?
In brief, we can say that the purpose of Yoga is to change the state of mind,
so that it is less muddy.
In this effort, God may help.

The purpose of Vedānta is to become God…..
At an ideological level, Vedānta rejects Yoga’s idea of God as something potentially helpful,
beside that point it likewise rejects whatever is said in Yoga that does not take one toward God.

However, the Vedānta Sūtra does emphasise the importance of sitting properly for meditation
and the Bhagavad Gītā speaks of the need for proper breathing.
All the Śāstra, in fact, accept the physical discipline of Yoga.”
– TKV Desikachar Chennai July 1981