"Our civilisation has given us several divine gifts. Yoga is one. We should be happy that we gave this gift to humanity," Prabhu said.
On the occasion, the Railway minister performed 'asaanas' along with Andhra Pradesh Chief Minister N Chandrababu Naidu, Both of whom are regular practitioners of the activity.
Prabhu said the technique (yoga) could be used to bring about holistic development of the country.
"Yoga will keep our society better. The traditional knowledge and wisdom can guide us to become modern citizens," he said.
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"Practice yoga for a peaceful life, healthy life and happiness," he said.
Pointing out that hyper tension has become a biggest problem in life, Naidu observed that a confused body and mind would not yield any results.
"Yoga eliminates this as it helps in control of body and mind," he said.
Yoga was a service, Naidu said and asked students to learn and also teach it.
"You should do this in a mission mode. That will be the real social service," he said, adding that yoga has been introduced in all colleges in the state.
Over 3,000 students from different schools and colleges, NCC cadets took part in the event.
Deputy Chief Minister N Chinarajappa, ministers, MPs, legislators and officials attended the programme.
The chief minister also felicitated yoga teachers on the occasion.