What is 'Yoga'? The Sanskrit word when translated to English means 'Union'.
The straight answer by Swami Vivekananda - "To the worker, it is union between men and the whole of humanity [Karma-Yoga]; to the mystic, between his lower and Higher Self [Raja-Yoga]; to the lover (Devotee), union between himself and the God [Bhakthi-Yoga]; and to the philosopher, it is union of all existence [Jnana-Yoga]. This is what is meant by Yoga."
So, there are four choices. Any one can be ours. However, I believe the word 'Union' should be very well understood before making a choice.