It is said that Shiva first imparted his knowledge to Parvati or Shakti, his spouse. Also, for the good of mankind, he taught the science of Yoga to the Saptarishis who passed on this knowledge to the rest of humanity. All yogic and tantric systems consider him as the first Guru. These teachings have come down to us in the form of Agama Sastras. From these teachings, came various traditions which still exist. One of them is the Nava-Nath Tradition founded by Matsyendranath, Gorakshnath and the seven other Gurus of the Nath Tradition, which is still prevalent mostly in North India. Some consider Gorakshnath as an incarnation of Lord Shiva. In the South, it was the Siddha Agastiar or Agastya Muni, who disseminated this knowledge and created a lineage of Siddhas who specialized in Yoga, Tantra, Medicine, Astrology and other sciences. The tradition of 18 Siddhars is well known in South India.
In his teachings, Lord Shiva does not give any philosophical explanations, but instead gives very direct instructions on the methods to liberation. Siva Sutras and Vighyana Bhairava Tantra are popular texts that contain specific techniques to liberate the embodied soul from the limitations of the body and mind and experience his true blissful nature. These techniques got refined over the centuries through various masters, who perfected this art and then taught it their disciples. Thus a Guru-disciple tradition was developed and the wisdom of yoga was passed on through the ages
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