How many Mount Everest or Pacific Ocean do we have on mother earth! Some may argue for the sake of it but to what avail!
Yoga derived from the root word yog is the path towards god and there are not many paths leading to god. The primary essence of all paths is one and only one. As many human beings as many different paths to God Almighty can there be and it is because thinking of all varied!
Yoga called meditation in English demands human beings indulging in contemplation (chintan) so that we can realize the hidden underlying meaning of sacred texts of different religions of world. Understanding precepts of spirituality contained in sacred texts like Bhagavad Gita is necessitated to cut darkness of ignorance, queries that existed within us biennially from beginning of life.
Without indulgence in contemplation (chintan) yoga just cannot be performed. In ancient times Sages and Rishis went to deep dense forests to contemplate on god. In those days for contemplation going to Himalayas was an ideal choice but in present times one can indulge in contemplation (chintan) even within confines of home.
Going to Himalayas in present times is not required.
I again repeat there were never two forms of yoga in the entire world. Yoga is indulged only via contemplation (chintan) and there was never a shortcut path to reaching God in our lifetime.
Those who confused yoga with yogic exercises (asanas) were totally ignorant in matters spiritual.
Yogic exercises (indulgence in asanas) are merely a routine of exercises to keep the body fit and fine so that one could seriously indulge in yoga most of time.
Lord Krishna in Bhagavad Gita all the time advocates indulgence in contemplation (chintan) to reach God, Brahman in Hinduism creator of entire cosmos.
We must never fail to understand that gist of Bhagavad Gita could not be understood literally. To realize everything contained in 700 shlokas verses of Bhagavad Gita our indulgence in contemplation (chintan) is an absolute must. We truly had no other alternative.
I have come across many people who say they had read Bhagavad Gita many times but nothing becomes clear. None of them indulged in contemplation (chintan) to realize the hidden inner meanings in Bhagavad Gita.
The original text of Bhagavad Gita in Sanskrit containing 700 shlokas verses with Hindi and English transliteration is available for mere $1 from Gita press, Gorakhpur, India yet there were no takers. Reason is apparent! None world over wanted to indulge in contemplation (chintan) to realize contents of Bhagavad Gita from within.