Yoga combines physical exercise with an inwardly focused, attentive concentration on awareness of the breath, energy, and self. The human body is a holistic organism made up of several interconnected dimensions that are inextricably linked to one another and that any sickness or health state that affects one dimension also impacts the other dimensions. Every person has different requirements, and that each person must be treated as an individual with a practice that is customized to meet those needs. Yoga involves the learner in the healing process; by actively participating in their path to wellness, the student has a stronger feeling of autonomy and the healing occurs inside rather than externally. The mental health and well-being are essential to recovery. This chapter comprehensively explores the diverse arena of yoga's miraculous biopsychosocial impact on people with intellectual and developmental disabilities which scaling cognitive and health promotion.