In the ancient scriptures, Vihangam yoga has been referred to as Devyaan maarg, Madhu Vidya, Para Vidya or Brahmavidya.
In the literature of Saints it has been described as Meen Marg, Sahaj Yoga etc..
It was this yoga that Lord Krishna taught to Arjuna in the widely popular holy book BHAGVAD GITA during the Mahabharata period, some five thousand years ago. This Yoga has been referred to as Brahma Vidya in BHAGVAD GITA and the Upanishads.
This used to be the only form of yoga known to the sages of the yore. With the passage of time this got fragmented and the various fragments appeared in different forms as complete yoga practices. Vihangam yoga thus happens to be the mother of all forms of yoga that is to be learnt from, and practiced under the guidance of Sadguru.
This divine yoga finds extensive reference in the four Vedas: