Yoga is as ancient as creation. It has progressively manifested itself on the astral plane and through the physical plane, to reach mankind throughout the centuries and eras. It has been transmitted from master to master and has been encoded in sacred texts.
The origins of Kriya Yoga can be traced back to creation, its knowledge being called 'the true solar knowledge' - sauragyana (Bhagavad Gita IV, 1).
During the centuries it had been taught or re-introduced by different incarnations of saints and sages. Whenever the technique is on the verge of extinction, either because of natural catastrophes or for other reasons, a fully realized Soul comes to save and re-introduce it.
The technique of Kriya Yoga is outlined in the Upanishads too. Krishna taught the technique to Arjuna, as mentioned in the Bhagavad Gita. It was also presented by Maharishi Patanjali who wrote the Yoga Sutra ("The aphorisms of Yoga) for the spiritual development of humanity, text which is an authority in the field of yoga and is used as a reference.