Apart from holding yoga camps in units across the country, the Indian Navy and Coast Guard also organised programmes on ships like INS Airavat, Virat and ICGS Sagar.
Personnel on Indian ships out in the Pacific Ocean also celebrated the day by performing different aasanas.
"#IYD2016 Yoga by our brave sailors & officers at sea in NW Pacific ocean & in S Korea this morning," the Indian Navy tweeted.
Yoga camps were held at places ranging from Andaman and Nicobar Islands to high altitude areas where units of armed forces are posted.
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The Army Chief participated in a programme organised at the Parade Day ground at Delhi Cantonment, while the Air Force Chief attended an event at Wellingdon Camp, Air Force Station here.
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Meanwhile, in Mumbai, armed forces personnel, including their family, participated in various Yoga camps held at different locations concurrently.
The camps were conducted by the Yoga instructors of the Navy under the guidance of certified civilian instructors, a Defence release said.
The Mumbai Garrison of the Army also marked the day with mass participation of all ranks and families in the station.
Similar events were also organised at Kalina and Malad/Kandivli Military stations in the mega-polis and in other units of Maharashtra, it added.