Yoga means such actions, which after pacifying all the human tendencies helps a man to unite with Shiva. Following are the five divisions of yoga- 1) Mantra Yoga, 2) Sparsh Yoga (union of touch), 3) Bhava Yoga (union by devotion), 4) Abhava yoga (Union without being emotionally attached), 5) Mahayoga (The great union).
Mantra yoga helps a man to understand the meaning of mantras and uniting with Shiva by the concentration of mind. When Mantra yoga is perfected by the practice of Pranayama it is called
‘Sparshyoga’. Bhavayoga means meditating and chanting without uttering a word. Abhava yoga means such a union when the devotee contemplates on the final annihilation, without being emotionally attached with the world.
A man whose mind is preoccupied with the thoughts of Shiva is supposed to have attained the state of Mahayoga. A yogi can unite with Shiva after purifying his body with the help of Pranayama etc.