Relation To Yoga
Shaiva tantra gave us the “Hatha Yoga” manuals, such as the 15th century Hathayoga Pradīpikā and the 16th century Gheranda Samhitā. It is from these manuals that most modern knowledge of Yoga and the subtle body derives.
Yoga as it has been inherited in the modern world has its roots in Tantric ritual and in secondary passages (pādas) within Tantric scriptures, The practices of mantra, āsana (seat/pose), sense-withdrawal (pratyāhāra), breath-regulation (prānāyāma), mental (mantric) fixation (dhāranā), meditation (dhyāna), mudrā, the subtle body (sukshma shārīra) with its energy centers (chakras, ādhāras, granthis, etc.) and channels (nādīs), as well as the phenomenon of Kundalinī Shakti are but a few of the tenets that comprise Tantric Yoga. While some of these derive from earlier, pre-Tantric sources, such as the Hindu Upanishads and the Yoga Sūtra, they were greatly expanded upon, ritualized, and philosophically contextualized in these medieval Tantras."
Fernando Estévez Griego, describing the Gheranda Samhita as being a tantric text, says that Raja Yoga means "Samadhi" from the tantric point of view. (source, p.2, in Spanish)
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