#GOAL OF #YOGA
The ultimate goal of Yoga is moksha (liberation) though the exact definition of what form this takes depends on the philosophical or theological system with which it is conjugated.

According to Jacobsen, "Yoga has five principal meanings

Yoga as a disciplined method for attaining a goal;
Yoga as techniques of controlling the body and the mind;
Yoga as a name of one of the schools or systems of philosophy (darśana);
Yoga in connection with other words, such as "hatha-, mantra-, and laya-," referring to traditions specialising in particular techniques of yoga;
Yoga as the goal of Yoga practice.
According to David Gordon White, from the 5th century CE onward, the core principles of "yoga" were more or less in place, and variations of these principles developed in various forms over time.

Yoga as an analysis of perception and cognition; illustration of this principle is found in Hindu texts such as the Bhagavad Gita and Yogasutras, as well as a number of Buddhist Mahāyāna works.
Yoga as the rising and expansion of consciousness; these are discussed in sources such as Hinduism Epic Mahābhārata, Jainism Praśamaratiprakarana.
Yoga as a path to omniscience; examples are found in Hinduism Nyaya and Vaisesika school texts as well as Buddhism Mādhyamaka texts, but in different ways.
Yoga as a technique for entering into other bodies, generating multiple bodies, and the attainment of other supernatural accomplishments; these are described in Tantric literature of Hinduism and Buddhism, as well as the Buddhist Sāmaññaphalasutta.
White clarifies that the last principle relates to legendary goals of "yogi practice", different from practical goals of "yoga practice," as they are viewed in South Asian thought and practice since the beginning of the Common Era, in the various Hindu, Buddhist, and Jain philosophical schools.