Om Upanishadaye Namah
Upanishad are the part of Vedas, Arandya and Brahman, therefore also called Vedanta. There are no any historical proof about the writers of Upanishad and it is the cause why it is directly came through God or also said, "it has been written to sit near to the God".

The center point of the Upanishad to help the peoples to come out from the world of sorrow and agoni by giving knowledge of īTatva` and showing bright path.
                                                           ...Yogacharya Kashinath
Yog in Upanishad
Upanishad are the part of Vedas, Arandya and Brahman, therefore also called Vedanta. There are no any historical proof about the writers of Upanishad and it is the cause why it is directly came through God or also said, it has been written to sit near to the God.
The center point of the Upanishad to help the peoples to come out from the world of sorrow and agoni by showing bright path.

Thare are many theories exist in Upanishad to explain The Yoga.
1. Yoga is unity of spirit and  superspirit.
2. Yoga is unity of human beings and God.
3. Yoga is the stablishment in Brahma.
4. Yoga is to being igoless from the bodily feeling.
5. Yoga is to know the Kaaran (power of happening).

There are many points in Upanishad about selfrealization and Tatva-anubhuti (experience of Tatva) in the order of Yoga. "Ayam tu parmodharma yadhyogenatma dharshanam I"
(1:8 Yagyavalk Smriti)

According to Kathopnishad, After detachment of the subject, five Indria (sense) with Man (mind) attach with pure spirit and itelect also act and destruct is the condition of great movement as called Yoga. Or in other hand, the condition of holding constant mind is Yoga.

Asan (Physical Practice) in Upanishad:
As the practical aspect of Yoga in Upanishad start from the Asan (Phisical exercise) and mostely Upanishad follow this. Somewhere in some Upanishad there are also description about other theory before starting Asan as Brahmcharya (Celebacy), Ahimsa (Non violence), and mitahar (balance vegeterian food).

In many Upanishad, Asana is the first medium or first practical aspect of Yoga.
For example:
Dhyanbindu Upanishad, Yogchudamandyopnishad, Hathyogpradipika. In some Upanishad Asan are the third part as in Shandilya Upanishad. Many Upanishad have only point out towards Asan or says maintaining one gesture as long as possible without moving body is Asan.

Existence of Asan In Upanishad:
1. Amritnadopnishad and Shwetashataropnishad are just pointed toward Asan.
2. Mandal Brahman Upanishad says, Asan is to sit in any postion with joy till infinit(as mentioned in Patanjal Yogsutra).
3. Yog Kundal Upanishad-Padmaasan, Vajrasan
4. Amrit Nad- Padmasan, Swastikasan, Bhadrasan
5. Dhyan Bindu and Yog Tatva Upanishad- Sidhasan, Padmasan, Bhadrasan, Simhasan
6. Shandilya Upanishad- Swastikasan, Gomukhasan, Padmasan, Virasn, Simhasan, Bhadrasan, Muktasan, Mayurasan
7. Varah Upanishad -Chakrasan, Padmasan, Kurmasan, Myurasan, Kukkutasan, Virasan, Swastikasan, Bhadrasan, Simhasan, Muktasan, Gomukhasan
8. Trisikhbrahman Upanishad -Swastikasan, Gomukhasan, Virasan, Yogasan, Padmasan, Bandhapadmasan, Kukkutasan, Uttankurmasan, Dhanurasan, Simhasan, Bhadrasan, Muktasan, Mayurasan, Matsyasan, Sidhasan, Paschimottan, Sukhasan
9. Dhan Bindu Upanishad- Infinit Asan


Some Upanishad describing below who gives full descripitions about Asan with there name,  functions and method, Kunalini Chakras, Bandhas, Pranayam, Shatkarma (Cleaning internal body organ):

1.Yogchudamandyopnishad:
There are six part of Yoga. 1.Asan 2.Paranayam 3.Pratyahar 4.Dharna 5.Dhyan 6.Samadhi.

Exercises in Yogachudamandyopnishad
Sidhasan and Kamalasan/Padmasan (3), Mahamudra (65 to 70), Khecharimudra (52 to 58), Moolbandha (46 to 47), Uddiyanbandh (48-49), Jalandharbandh (50-51), Pranayam (67 and 89 to 108 and 116 to 119)), Creation of world through Yogic aspect, Descripstion of Cosmic body and Omkar, Soham, part of Shakti (power), Omkarjapa (Gadhyam and 72 to 88) Japa-Ajapa (31-35), Kundalini Chakra and itīs place in the body (from 4 to 14), Awaking Kundalini(36 to 40), Nadi and itīs place in the body (from 15 to 21), Type of air in the body and itīs functions(22 to 26), information about Prana (27 to 30), information about food (41 to 43), Nasikagra Dristi and Om Japa (71), Pratyahar (109 and 120 to 121) Dharana, mahabandh (110 and 114) Mathamatical relation of Paranayam, Pratyahar, Dharana, Dhyan and Samadhi (111 to 112), Samadhi (113), Nad anubhuti (115)

2. Gherandya Sanhita:
Gherandya Sanhita is the speech given by Gherandya Rishi to Chandakapali and it is divided in to seven upadesh (seven lecture).
Thare are seven part of Yoga. 1. Shatkarma 2.Asan 3.Mudra 4.Pratyahar 5.Pranayam 6.Dhyan 7.Samadhi
In Gherandya Sanhita, Asan are on the second place and Pratyahar is before the Pranayam.

Exercises in Gherandya Sanhita
Shatkarma(Dhauti, Vasti, Neti, Nauli, Tratak and Kapalbhati)

Dhauti and  itīs four(Antahdhauti, Dantdhauti, Hridhauti and Moolshodha) type (13 to 45:1)
Antahdhuti are four different type:-
a. Vatasar and Kaki mudra (14 to 16:1)
b. Varisar (17 to 18:1)
c. Vahinnisar (19 to 20:1)
d. Bahiskrit (21 to 25:1)

Dantadhauti are five different type:-
a. Dantmool (27 to 28:1)
b. Jivhamool (29 to 32:1)
c. Karnarandhra left (33:1)
d. Karnarandhra right (33:1)
e. Kapalrandhra (34 to 35:1)

Hridhauti are three type:-
a. Danda (37 to 38:1)
b. Vaman (39 to 40:1)
c. Vastra (41 to 42:1)

Moolshodhanam is itself one type (43 to 45:1)

Vasti and itīs two (Jalvasti and Sthalvasti) type (46 to 50)
Jalvasti (47 to 48:1)
Sthalvasti (49 to 50:1)

Neti (51 to 52:1)

Nauli/Lauliki (53:1)

Tratak (54 to 55:1)

Kapalbhati and itīs three(Vatkram, Vyutkram and Shitkram) type (56 to 61:1)
Vatkram (57 to 58:1)
Vyutkram (59:1)
Shitkram (60 to 61:1)

2. Asan in Gherandya Sanhita (Dwitiya Upadesh/2 Chapter) says- there are 84 hundreds thausands asans like the all living being included non-humans and plants exist on this Earth. In this all asanas 84 are important and in these 84, 32 are most important as given below.
There are 32 asans mentioned in Gherandya Samhita with name, method and there benefit. These asana are: Sidhasan, Padmasan, Bhadrasan, Muktasan, Vajrasan, Swastikasan, Simhasan, Gomukhasan, Veerasan, Dhanurasan, Mritasan, Guptasan, Matsya asan, Matsyendrasan, Gorakshasan, Paschimottanasan, Utkatasan, Sankatasan, Mayurasan, Kukkutasan, Kurmasan, Uttankurmasan, Uttanmandukasan, Vrikshasan, Mandukasan, Garudasan, Brishabhasan, Shalabhasan, Makarasan, Ustrasan, Bhujangasan, Yogasan. 

3. Mudra (Tritiya Upadesh/3 Chapter)
Mahamudra, Nabhomudra, Uddiyanbandh, Jalandharbandha, Moolbandh, Mahabandh, Mahavedh, Khechari, Viparitkarni, Yonimudra, Vajroli, Shaktichalan, Tadagi, Mandavimudra, Shambhavimudra, Panchadharanamudra(five differentmudras called together), Ashwanimudra, Pashini, Kaki mudra, Matangimudra and Bhujanginimudra.

Panchdharanamudra
a. Parthivimudra (70 to 71:3)
b. Ambhasidharana (72 to 74:3)
c. Agneyeedharanamudra (75,76:3)
d. Vayavidharanamudra (77 to 79:3)
e. Akashidharanamudra (80 to 81:3)

Pratyahar (1 to 5:4)

Suitable place and month to start yoga (8 to 15:5) note:about suitable place, the mantra was right during the earlier time but now it can be change.

Food information for yoga practitioner (16 to 22:5 and 23 to 31:5)

Pranayam and itīs two(Samanu/Bijyukt, Nirmanu/Nirbij) type ((37 to 96:5)
Nadi Shodhan (37 to 44:5):-
Dakshin Nasika(right nostril) Breathin with Ran Japa (16 japa Purak/breathin, 64 japa Kumbhak/breath stay in stomach, 32 japa Rechak/breathout).
Vam Nasika(Left nostril) Breathin with Yan Japa (16 japa Purak/breathin, 64 japa Kumbhak/breath stay in stomach, 32 japa Rechak/breathout).

Kumbhak(Pranayam) and itīs eight(Sahit Kumbhak, Suryabhed, Ujjayee, Shitali, Bhastrika, Bhramari, Murcha and Kevali)
Sahit Kumbhak and itīs two(Sagarbha and Nigarbha) type (47 to 56:5)
Suryabhed and type of Vayus(57 to 67:5)
Ujjayee Pranayam (68 to 71:5)
Shitali Pranayam (72 73:5)
Bhastrika Kumbhak/Pranayam (74 to 76:5)
Bhramari Kumbhak (77 to 81:5)
Murcha Kumbhak (83:5)
Kevali Kumbhak and Ajapa "hans" Gayatri (84 to 96:5)

Dhyan/Dhyanyog and itīs three(Sthuldhyan, Jyotidhyan and Bindumayadhyan) type
Sthuldhyan (2 to 14:6)
Jyotidhan Kundalini Dhyan(15 to 17:6)
Bindu/Sukshmadhyan and Kundalini Dhyan (18 to 22:6)

Samadhi and itīs six(Dhyanyog, Nadyog, Rasanandyog, Layasidhiyog, Bhaktiyog and Rajyog) type (6 to 16:7)
Dhyanyog and Shambhavi mudra (7 to 8:7)
Nadyog Samadhi and Khechari mudra(9:7)
Rasanand Samadhi and Bhramari (10 and 11:7)
Layasidhiyog Samadhi and Yoni mudra(12 to 13:7)
Bhaktiyog Samadhi (14 to 15:7)
Rajyog Samadhi and Manomurch Kumbhak (16:7)

In Kath Upanishad, Yog is the constancy of Sense, mind and intellect (11:3rd Valli) or when external movement through sense organs of mind stop and stablish in God are called the final movement of Yoga (10:3rd Valli)

In Prashna Upanishad, in fifth chapter (pancham prashna) explained by Pipplad Rishi to Gargya Muni about Om and itīs chanting importance.

Mandukya Upanishad:
About Om and itīs chanting importance and itīs division also mentioned in Mandukya Upanishad or I can say Mandukya Upanishad have only information about Om and itīs part and importance of the every part of om in whole Upanishad. Om it the itself complete Yoga.

In Brahm Ananad Valli of  Taittiriya Upanisha, There are some descriptions and type of Prana. (2nd and 3rd anuvak).

In Yogtaravali mentioned about importance of Pranayama, Bandhas, Unmani avastha (Unmani Satage 19, Yogtaravali), Keval kumbhak 9,Yogtaravali, and Raja yoga, Nadaanusandhan 1 Yogtaravali, but there is no descriptions about method to do. Yoga Taravali is the parallel to the Upanishad (It is not in the category of Upanishad) and have the mix information about Yogsutra-Shri Patanjal and Hatha Yoga Pradipika-Pt. Swatmaram. According to Yogsutra, there are all eight steps divide in to two group. Bahiriang Abhyas and Antarang Abhyas(external and internal) and in the Yogtaravali, written about just the importance about internal practice.
Mind is the more important than Sense, intellect is more important than mind, Spirit is more important than intellect and Abyakta(Karan) is the more important than all which is the part of the God and tied to be being. 7, 3 Valli, Chapter 2:Kath Upanishad
Chariot is the body, spirit is the passanger, driver is the intellect, horses are the sense, mind is the controlling Rope from horses to the hand of driver and the track is two kind. One where horses want to go in the absence of driver control and second where driver want (mind control through intellect). 3, 3 Valli, Chapter 1
When the mind with the subject of all sense organs abosorbed and become constant by continue doing of Yogic exercises, and intellect is also stablished in the form of unification, where no any kind of knowledge of external and internal world, where no any attempt rest is the best condition of Yoga. 10, 3 Valli, Chapter 2
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