“There are also fundamental differences between Yoga and Vedānta. And, if at all we can link them, it is as follows: Yoga is a means towards Vedānta for those who are interested.
Vedānta involves a lot of enquiry and reflection, and also demands the development of Bhakti, and, for both the mind and for the individual, Yoga is the means towards Bhakti.
Also, Vedānta is Jñāna Mārga, and a state of mind that is necessary for Jñāna can only come through the practice of Aṣṭāṅga.”
– TKV Desikachar from lectures on ‘The Yoga of T Krishnamacharya’, given at Zinal, Switzerland 1981.

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Religiousness in Yoga Study Guide: Chapter Seventeen Theory: Various Approaches to Yoga Pages 237-249