The classical relationship

Yoga and Ayurveda share a common philosophical foundation in Samkhya philosophy and a common practical framework in the Pancha Kosha (five-sheath) model of the human being. Classical Ayurvedic texts -- particularly Charaka Samhita, Sutrasthana 7 -- document Yoga and Pranayama as clinical interventions, not merely spiritual practices. The Ayurvedic prescription of Yoga and Pranayama is individualised: constitution (Prakriti), current Dosha state (Vikriti), season (Ritu), and condition (Vyadhi) all determine which practices are therapeutic and which are contraindicated.

Charaka Samhita, Sutrasthana 7.52
Pranayama manasa rogam nirodhayati -- Pranayama controls mental disease. The breath is the vehicle of Prana, and Prana is the vehicle of Manas (mind). By regulating the breath, the Vata governing mental function is directly regulated, and mental disturbances are controlled at their root.

How Ayurveda prescribes Yoga differently

Modern Yoga is often practiced as a single system appropriate for all people. Classical Ayurvedic prescription is precisely the opposite: different Yoga practices are beneficial, neutral, or harmful for different constitutional types. A heating, vigorous Vinyasa-type practice is specifically indicated for Kapha conditions and contraindicated for aggravated Pitta and depleted Vata. A cooling, restorative practice is specifically indicated for Pitta conditions and potentially insufficient for Kapha. The classical framework for individualising Yoga practice is documented in the pages below.

Yoga and Ayurveda
Constitutional yoga practice -- what each Dosha needs and what it must avoid
Pranayama by Dosha
Specific breathing practices prescribed by classical texts for each Dosha
Yoga is not universal medicine
The modern wellness industry often presents Yoga as beneficial for everyone. Classical Ayurveda is more precise: certain Pranayama practices (Kapalabhati, Bhastrika) are contraindicated in Pitta conditions, pregnancy, hypertension, and epilepsy. Vigorous Asana practice is contraindicated in Vata depletion states. The individualisation is not optional in the classical framework -- it is the core principle.