Patanjali Yoga was originated by Maharishi Patanjali about 2000 years ago. He is known as the founder of Aastang Yoga. Maharishi Patanjali mostly focus on 8 steps of Aastang Yoga.
According to Yoga Upanishad Yoga is divided into four forms:
Mantra Yoga / Laya Yoga / Hatha Yoga / Raj Yoga