Vedas find rich text about Ayurveda and Yoga, because of which they are sometimes considered to be sister sciences of ancient India . Ayurveda is related to healing the body using the natural therapies and medicines whereas yoga is considered to be the science of mind and the body purification. But the two very well compliment each other in their own unique ways.
The verse, "yogas chitta vritti nirodhaha" in the Yoga Sutra and the verse, "svasmin dishati iti svasthah" from the Ayurveda texts clearly shows the relation between Yoga and Ayurveda. The former mention that yoga provides a settled state to the body and the latter explains that the person who is always united with his inner self is healthy. The two sciences talk about the very same goal of achieving the self.
In Ayurvedic texts such as the Charak Samhita, yoga is mentioned to be the centre of the Dincharya (daily routine). This is because of its importance in dissolving stress and calming down the body, before medication. Yoga attempts to balance all the three Doshas of the human body. The forward bending postures in yoga help reduce the Pitta Doshas, the twisting ones reduce the Kapha Doshas, and the backward bending exercises work well for the Vata Doshas. Yoga helps tone each an every part of the body and remove toxins from the inner organs of the body, complimenting the final aim of Ayurveda.
Ayurveda compliments Yoga in its primary goal of a healthy body. Different Ayurveda massages and treatments help relax the muscles and help yoga practice. Ayurveda attempts to provide a huge amount of support to yoga. There are many yoga exercises and kriyas that help removal of different toxins and unwanted substances from the body, but without proper Ayurvedic assistance all these exercises do not work as efficiently.
It would be very relevant to say that Ayurveda and yoga go hand in hand, complimenting each other and helping the human body to lead a healthy and long life.