Complex sentence: He first developed them in 1916, within his organization then called "Yogoda," which he changed to Self-Realization Fellowship/Yogoda Satsanga Society of India in the 1930s and eventually expanded them into a set of 39 exercises.
Split into simpler sentences: He first developed them in 1916, within his organization then called "Yogoda," which he changed to Self-Realization Fellowship/Yogoda Satsanga Society of India in the 1930s. He eventually expanded them into a set of 39 exercises.