yoga
From Hindi, Sanskrit yoga, literally "union": see YOKE.
From Hindi yoga, from Sanskrit yoga-s, literally "union, yoking" (with the Supreme Spirit), from Proto-Indo-European base *yeug- "to join" (see jugular).
yoke
Common Teutonic strong neuter: Old English. geoc = Old Saxon juc (Middle Low German juk, Middle Dutch juc, joc, Low German, Dutch juk, jok), Old High German juh, joch, (Middle High German, German joch), Old Norse ok (Swedish åka, Danish aag), Gothic juk, corresponding to Latin jugum, Greek zygan, Welsh iau, Old Slavonic igo, Sanskrit yugá-m:—Indo-european *jugóm.
Some cognates from Latin, French, and Spanish: jugum, jugular, junction, juncture, juxta-, join, joint, joinder, joust, junta.
From Greek: zygote, zeugma, syzygy.
The original sense of the Indo-European word was "union," and by extension came to mean "yoke" (something that joins two animals together), "jugular," (it originally meant "collarbone, throat, or neck," because that's where yokes go), and a host of other words relating to unions.
(OED Online, s.v. "yoga," "yoke," "jugular"; Etymonline.com, s.v. "jugular.")
Edited because Porter's a whiner.