Raja Yoga or Royal Yoga is the science of achieving Self-realization through meditation. Raja Yoga was codified by Patanjali around 400 BCE and is outlined in the Yoga Sutras.
Hatha Yoga is the science of purification to balance the body, mind and breath. Hatha Yoga also consists of a series of poses to prepare the body for meditation. The main text of Hatha Yoga is the Hatha Yoga Pradipika written in the 15th century by Swami Svatmarama.
