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There was twenty Yoga Upanishads which deal with the theory and practice of Yogic techniques. Traditionally, each of the Yoga Upanishad is attached with a particular Veda merely on the basis of the beginning. The following table gives an idea about the association of the Upanishad with the sacred Veda. The composition of these is stated to have continued till the eighteenth century. The Most striking feature of the Yoga Upanishad is that most of these Upanisad texts describe the Hatha yoga practices as means to attain the absolute Brahman, the Brahman without a second, the Brahman without any adjuncts or attributes.