Is Yoga a Religion?

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The oldest and most complete text on Hatha Yoga (commonly called “physical” Yoga) is the Hatha Yoga Pradipika, which was written by by Yogi Swatmarama, a 15th century teacher from what is now known as India. Complete English translations of this text are available online. Here are two translations:
http://www.geocities.com/kriyadc/hatha_yoga_pradipika.html
http://www.sacred-texts.com/hin/hyp/index.htm

The Hatha Yoga Pradipika well exemplifies the middle ground of Hatha Yoga, in that it is neither mere physical fitness on the one hand, nor conventional religion on the other. An even cursory reading reveals that the postures (asanas) that are commonly referred to as “Yoga” today are only a portion of chapter one of the four chapters of the text. The text goes on to describe that the purpose is to awaken the subtle energy known as Kundalini. The fourth chapter clearly states that the purpose of Hatha Yoga is Raja Yoga, which focuses on the very deep direct experience known as Samadhi, which comes through the intense practice of meditation. To understand the true nature of Yoga, one need go no further than the title of chapter 4, which is “Samadhi.”

Swami Satyananda Saraswati, founder of Bihar School of Yoga, Bihar, India, describes the modern situation and proper orientation of Yoga quite well in the Introduction of the Hatha Yoga Pradipika commentary by Swami Muktibodhananda Saraswati, where he writes:

"In ancient times hatha Yoga was practiced for many years as a preparation for higher states of consciousness. Now however, the real purpose of this great science is being altogether forgotten . The hatha Yoga practices which were designed by the rishis and sages of old, for the evolution of mankind, are now being understood and utilized in a very limited sense. Often we hear people say, 'Oh, I don't practice meditation, I only practice physical Yoga, hatha Yoga.' Now the time has come to correct this view point. Hatha Yoga is a very important science for man today....

"The main objective of hatha Yoga is to create an absolute balance of the interacting activities and processes of the physical body, mind and energy. When this balance is created, the impulses generated give a call of awakening to the central force (sushumna nadi) which is responsible for the evolution of human consciousness. If hatha Yoga is not used for this purpose, its true objective is lost ."