I told this eternal secret to Vivasvat. Vivasvat taught Manu, and Manu taught Ikshvaku. Thus, Arjuna, eminent sages received knowledge of yoga in a continuous tradition. But through time the practice of yoga was lost to the world.

Sometimes, we learn things indirectly from other teachers rather than from the source. Those are still valuable lessons, especially for beginners who have not yet developed the ability to communicate with Light Beings. Real yoga is a complex spiritual discipline that is far more than the exercise system now popular in the west.