There are different types of yoga mentioned in the Vedas, Bhakti yoga is the highest form, followed by hatha yoga, which is more calisthenics. Astanga yoga is a totally different type.and focuses more READ MORE http://yoga.iloveindia.com/yoga-benefits/yoga-healing.html
Now the condition of the jiva soul is that he/she is a servant of Krsna. Now the human condition is one of suffering and misery by definition and the only way to extricate oneself from this situation is through a practice known as "bhakti-yoga." However, "hatha yoga" which is a form of stretching can also be of some benefit, in that it creates a flexible and healthy body.