It is unclear when exactly the concept of mukti was developed. According to some scholars, it came together with the first yogis in Hinduism. Today, mukti is the key goal on the path of yoga, where it represents liberation and awakening during this lifetime. The Eight Limbs of Yoga outlined by Patanjali in his Yoga Sutras can be interpreted as the steps on the path to attaining mukti.
Historically, there are three forms of mukti: the Vedic form, the yogic form and the bhakti form. In the Vedic times, it was believed that mukti could be achieved through rituals. Later, the yogic form replaced these with a focus on creating self-knowledge, personal development and meditation. These yogic principles were and are still accepted in many schools of Hinduism. In the bhakti form of mukti, the rituals and self-knowledge were replaced with constant devotion and love of God, leading to a perfect union with the Divine.
There is also a Jivanmukti yoga style created in 1984 by Shannon Gannon and David Life. It combines Hatha yoga with principles of scripture, devotion, nonviolence, music and meditation. It emphasizes focus on animal rights, veganism and social activism.