Yoga is said to have many paths. Four of these ways or limbs of yoga are jnana yoga, the way to God through knowledge, bhakti yoga, the way to god through love, karma yoga, the way to God through work, and raja yoga, the way to God through psychophysical experience. Yoga has lasted thousands of years as a world view, as a science and art of living, because Yoga works. There has been a mountain of written material published about yoga, but one will not understand yoga until one practices some means of hatha yoga. The way to the subtle is through the gross, as the way to understanding the psyche is through the emotional realm felt through the physical body.
Yoga is practical.
It works only if you do it. Thinking about it or studying it or talking about it is interesting, perhaps, but only practicing will change the way you feel, for the better. And with yoga, it's all practice. There is no performance.