Many of the popular sports mentioned in Vedas and the epics have the origins in military training, such as boxing (mustiyuddha), wrestling (malawandwa), chariot-racing (rathachalan), horse-riding (aswa-rohana) and archery (dhanurvidya). Competitions were held not just as a contest of the players’ prowess but also as a means of finding a bridegroom. Arjuna, Rama and Siddhartha Gautama all won their consorts in such tournaments.  In the 3rd century, elements from the Yoga Sutras of Patanjali, as well as finger movements in the data dances, were incorporated into the fighting arts. A number of South Asian fighting styles remain closely connected to yoga, dance, and performing arts.  Some of the choreographed sparring in kalaripayat were believed to be markedly better than other performers. Until recent decades, only martial artists performed the chhau dance. Some traditional schools still incorporate martial arts as part of their exercise program.  Like other branches of Sanskrit literature, treatises on martial arts become more systematic in the course of the 1st millennium CE. Vajra-musti, an armed grappling style, is mentioned in sources of the early centuries of CE. Around this time, tantric philosophers developed important metaphysical concepts such as kundalini, chakras, and mantra. 
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Source: A History of Goju Budo by Kohai Prashanth Raghavan, 3rd Degree Blackbelt