There are many beliefs about the origin of Hatha Yoga or Hatha Vidhya. It is a Yoga system said to have been developed by a15th century sage of name Swami Swatmarama. He wrote the treatise Hatha Yoga Pradipika, the most fundamental Yoga text after Bhagavad-Gita and Swami Pathanjali’s Yoga Sutras
There are others who believe that Hatha Yoga dates back thousands of years ago, and is found on Yoga Karunta. There are hints that it existed during Stone Age, as stone statue of a yogi was found. During Indus Valley Civilization in 3000 B.C, there is proof of Hatha yoga in seals depicting human figures in different yoga postures and practices. It existed in Vedic Civilization in 1500 B.C as well.
Matsyendranaatha continued the lineage through his disciple of name Gorakhnath who in his turn taught his disciples. Gorakhnath wrote Siddhasiddhanta-paddhati, Goraksa-sataka, Gorakhbodh and Sabadi covering its mystic doctrines. Siva is symbolised, as the embodiment of Paramatman or transcendent self, which is a person’s ultimate identity. Parvathy is considered as Jivatman or living self. The story is considered to be emphasising on the fact that normally we are not aware of ourselves, to comprehend our inner self and its voice. Another treatise of Hatha Yoga is Gheranda Samhita belonging to Tantra.