In Melbourne, over 500 people gathered at the Springers Leisure Centre to kick off the day with 'Surya Namaskar'.
Several MPs including Victoria's speaker Telmo Languiller, Inga Peulich, Anthony Byrne attended the ceremony by lighting the lamp here in the presence of Indian consul general of Melbourne Manika Jain.
A documentary on yoga was also screened followed by Video message from Prime Minister Narendra Modi.
"It is a matter of great pride and pleasure that UN has declared observation of June 21 every year as International Yoga Day," Jain said.
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The day-long celebrations were organised by a Melbourne- based yoga expert Rajendra Yenkannamoole who held yoga sessions.
Rajendra said that yoga was picking up in Australia in a big way and was emerging as a part of daily routine of many Australians.
"There is an interest by MPs to introduce yoga sessions in parliament in near future," Rajendra said.
"Yoga can cure many ailments and we are trying to spread this message here through our 12 centers," he added.
Several yoga events also took place in the Australian capital Canberra and Sydney where hundreds gathered to mark the day.