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Yoga originated in India. It was a very ancient art. It is believed that an Indian Prince that had been trained in Yoga and the Indian Martial Arts moved to China and became the Bodhidharma, teaching what became Kung Fu to the monks at the Shaolin temple.

Second Answer

Both Yoga and Chinese qigong are stretching and breathing exercises. They improve joint strength and flexibility. The breathing is believed by both cultures to fuel an internal energy--Prana (India) and Qi (China)--that fortifies the body and, when directed and compounded in the brain, leads to enlightenment or immortality (depending on the tradition). Both India and China came upon these ideas independently. Many other cultures associated breathing with such properties. The ancient Greeks referred to it as the "humors."

Both the South and East Asian traditions existed long before the aforementioned Buddhist monk came to China. Therefore, there is no evidence that Bodhidharma introduced any such exercises to the Middle Kingdom. Most importantly, the concept of him teaching martial arts at the Shaolin monastery did not come about until the early 20th century.

See Chinese Martial Arts (2012) by Peter Lorge, The Shaolin Monastery (2008) by Meir Shahar, and "Ignorance, Legend, and Taijiquan" by Stan Henning.

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Q: What is the connection between yoga and Kung Fu?
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