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Fiqh

Is it okay to do the yoga exercise?

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Yes, yoga is generally permissible as exercise if it contains no elements of worshipping or venerating anyone other than Allah. yoga, exercise, permissibility, worship, fiqh ruling, physical activity https://www.youtube.com/shorts/qitXKKTnzzY
Yoga nowadays is often used as a form of exercise. It's not used as a form of worship. So as long as there are no aspects in it that involve worshipping others, any acts that you're doing, then that's fine. If there are any acts that involve venerating other than Allah, then yes, of course those acts would not be permissible. But as a form of exercise nowadays, it's generally fine.
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