Dressed in a white T-shirt and trousers with a scarf around his neck, Modi joined over 30,000 people including defense forces personnel and school children for the event and asked people to embrace yoga like they have taken to mobile phones, saying "it gives us health assurance at zero budget".
He also pitched for treating diabetes through Yoga and announced two awards including international Yoga awards for excellent work in the field.
The day had its share of controversies with Kerala Health Minister and senior CPI(M) leader K K Shailaja expressing reservations over rendering of a Sanskrit 'shloka'.
Taking part in the state-level Yoga event in Thiruvananthapuram, the Minister asked the officials whether the 'shloka' was necessary to be included in the programme schedule and suggested a commonly accepted prayer could have been included at the event.
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No official programme was organised by the Nitish Kumar government in Bihar where Union minister Ravishankar Prasad, led thousands of people in observing the fitness regime.
Union Ministers fanned out to various states to lead the yoga day celebrations.
Braving rains, Home Minister Rajnath Singh participated in the main programme at KD Singh Babu Stadium in Lucknow.
In Jaipur, Rajasthan Chief Minister Vasundhara Raje and Union Minister Uma Bharti were present at the event venue. However, Bharti was seen sitting on a chair and did not perform asanas due to health reasons. She only did some breathing exercises.
Railway Minister Suresh Prabhu and Andhra Pradesh Chief Minister N Chandrababu Naidu performed asanas at the state level event in Vijaywada.
The day also saw nearly 2,000 pregnant women setting a record by performing yoga in Gujarat's Rajkot.
"On this International Day of Yoga, I urge everyone to
embrace healthier choices and lifestyles and to commit to unity with our fellow human beings, regardless of ethnicity, faith, age, gender identity or sexual orientation," Ban said.
Ahead of the Day, several striking images of complex yoga postures illuminated the UN headquarters.
Armed forces also marked the Day across the country by performing 'aasanas' at several events including on warships.
In Kashmir, the main function was held at the official residence of Deputy Chief Minister Nirmal Singh in Srinagar where several BJP leaders including MLAs took part.
Officials said two events were conducted by the National Cadet Corps (NCC) exclusively for its girl cadets at Government School Kothibagh and Government Girls Higher Secondary School Nawakadal.
He also urged people not to drag yoga into a controversy.
Pitching for treating diseases like diabetes through the ancient discipline, he said, "All people belonging to yoga field, whatever knowledge they have, they must continue with the rest of their yoga activities but this (diabetes) must be the main focus".
As participants bent and stretched themselves at the French architect Le-Corbusier designed Capitol Complex, he said Yoga is not about what one will get, but it is about what one can give up.
Urging people not to put Yoga into any controversy, Modi stressed upon them to adopt it for good life.
On the awards for yoga, Modi said there will be a expert committee which will frame rules for giving out awards.
Modi noted that Yoga was turning out to be "very big"
business.
"Today yoga is becoming a very big business. It is developing as big profession. Demand for yoga trainers is growing. Employment opportunities for youth are rising. In many parts of the world, there are places where TV channels are dedicated to showing Yoga programmes only," he said Modi said Centre has started working towards fixing norms and protocols for Yoga training to take it to the world.
"Government's quality council has worked in the direction of fixing norms with regard to yoga training. Centre has started working in association with WHO to fix protocols and scientific ways for yoga," he said.
The PM noted that the day got immense support from across the world, turning it into one of the biggest campaign.
Meanwhile, leading the Yoga day celebrations today in Thiruvananthpuram, Environment Minister Prakash Javadekar termed yoga to be a way of life which is the most effective health prescription which any doctor can give.
"It is the key to good health, harmony and peace. With Yoga, you can be at peace with yourself, you can be at peace with your family, your surroundings and you can also be at peace with your work.
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In Shimla, Union Minister of State for Defence Rao Inderjit Singh led the Yoga Day celebrations in which former Chief Minister P K Dhumal participated.
Rao Inderjit Singh said yoga has cut across religious, caste and geographical barriers and today 170 out of 193 countries including Muslim countries have realised the relevance Yoga in living healthy life and its healing abilities.
A mega event was organised at Annadale under the aegis of Army Training Command (ARTRAC) in which more than 500 officers, soldiers and their families participated.
The para military forces also celebrated the day in a big way and about 1500 men of para military forces including Sashastra Seema Bal (SSB), Wireless training centre, Indo-Tibet Border police (ITBP) and Central Reserve Police Force (CRPF) and Himachal police participated in the programme organised at Kasumpti.
In Uttarakhand capital Dehradun, Governor K K Paul led the celebrations in which all officials and staff members of Raj Bhawan performed various Yoga asanas and kriyas.