The assembly, organised by Prajapita Brahma Kumaris Ishwariya Vishwa Vidyalaya, was attended by about 40,000 'raj yogis' and yoga aspirants.
"The purpose of this yoga assembly is to create and spread awareness among public about the true meaning, process and benefits of 'raj yoga' as a simple, natural and easy way of remembering our spiritual father, the supreme soul, while doing daily worldly duties," the organisers said in a statement.
Yoga guru H R Nagendra, chairman of Swami Vivekanand Yoga Sansthan, told the assembly that 'raj yoga', which aims at calming, controlling and mastering mind, if regularly practised, can not only restore peace, health, harmony and positive powers in self, surroundings and in the world but also can elevate human being to divine level.
"Raj yoga...Can endow the individual with inner powers and qualities which are needed to lead a balanced and blissful life," Dadi Hirdaya Mohini, additional chief of Brahma Kumaris, said.
"Yoga can help us grow better and become successful in life," said Buddhist monk Lama Lobzong.
The second International Day of Yoga will be celebrated on June 21.