God has sent Divine Scriptures and Prophets in every nation and every land. The core of the message with every Prophet was always the same: monotheism; and a broad set of commandments about how to serve God in public and private lives. See this verse:
[42:13] He has decreed for you the same system He ordained for Noah, and what We inspired to you, and what We ordained for Abraham, Moses, and Jesus: "You shall uphold this system, and do not divide in it."
One of the very important tenets of the "systems" of all the prophets was Salat and Zakat (constant contact with God, and purification). This can be verified from the extant Scriptures of other religions. Whereas we know of semitic scriptures, Torah, Psalms, and Gospel, from Quran; there are others, for instance Bhagawad Gita, whose veracity can be established only by verifying the core of their message, with respect to Quran's.
Coming back to Salat; yoga, in Hinduism, and as delineated in Bhagawad Gita is the same concept that what we know as "salat" from Quran. First, consider these verses:
[19:58-59] Those are the ones whom God has blessed from amongst the prophets from the progeny of Adam, and those We carried with Noah, and from the progeny of Abraham and Israel, and from whom We have guided and chosen. When the signs of the Gracious are recited to them, they fall down prostrating, and in tears. Then generations came after them who lost the contact prayer (salat), and followed desires. They will find their consequences.
According to the verse 42:13, we know that Salat as an important part of Islam was also a part of every previous "system" revealed by God. But nations corrupted not only the meaning of monotheism, the primary message; but also various concepts and practices commanded by God. Bhagawad Gita talks of an immaculate model of monotheism in favour of "Supreme Personality of Godhead", but majority of Hindus have lost the meaning of monotheism and worship a whole pantheon of gods instead of One God. Similarly, they have lost the meaning of Salat (yoga) as ordained by God in Bhagawad Gita, and made it into cumbersome acrobatics for achieving an obscure and ambiguous concept of "enlightenment" instead of serving God.
[21:25] We did not send any messenger before you except with the inspiration: "There is no God except Me; you shall worship Me alone."
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