Special arrangements were put in place to secure the Prime Minister, who practised most of the 21 'asanas' sitting with other participants.
Earlier, he was expected to only address the event.
Some SPG and Delhi Police personnel, dressed as participants, were part of the crowd before the Prime Minister arrived. As soon as Modi delved into the crowd they threw a ring around him.
64-year-old Modi was joined by yoga guru Ramdev on the dais.
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Delhi Police put in place arrangements for restricted movements of vehicles in and around the vicinity of Rajpath and barricades were put up to demarcate several enclosures at the venue.
Thousands of Police Training Course cadets and volunteers of various private organisations were also part of the security arrangements.
Groups of volunteers were tasked with taking the attendance of the participants in separate blocks.
Following an alert issued by intelligence agencies, the police had banned flying of kites, balloons, glider, micro light objects during the programme to ward off any aerial threat.
Traffic restrictions were put in place from June 14 and Rajpath was closed for traffic from Vijay Chowk to India Gate and round the clock vigil of the area including the lawns was on.