Yes, Yoga is a Hindu practice.
Yoga - Practices for union with the true Self (Living Religions, Eighth Edition - Mary Pat Fisher P. 120)
"From ancient times, people of the Indian subcontinent have practiced spiritual disciplines designed to clear the mind and support a state of serene, detached awareness. The pratcies for developing this desired state of balance, purity, wisdom, and peacefulness of mind are known collectively as yoga. It means "yoke" or "union" refering to union with the true SElf, the goal described in the Upanishads.
The sages distinguished four basic types of people and developed yogic practices that are particularly suitable for each type, in order that each can attain the dsired union with the Self. For meditative people, there is a raja yoga, the path of mental contenctration. For rational peaple, there is jnana yoga, the path of rational inquiry. For naturally active people, there is karma yoga, the path of right action. For emotional people. there is bhakti yoga, the path of devotion.
[skipping a few pages]
Karma yoga In contrast to these ascetic and contemplative practices, another way is that of helpful action in the world. Karma yoga is service rendered wtihout any interest in fruits and without any personal sense of giving. The yogi know that the Absolute performs all actions, and all actions are gifts to the Absolute. This consciousness leads to liberation from the self in the very midst of work.
Bhakti yoga The final type of spiritual path is the one embraced by most Hindus. It is the path of devotion to a personal deity, bhakti yoga. For the bhakta (devotee) the relationship is that of intense love. Bhakta Nam Dev described this deep love in sweet metaphors:
Thy Name is beautiful, Thy form is
beautiful, and very beautiful is Thy
love, Oh my Omnipresent Lord.
As rain is dear to the earth, as the
fragrance of flowers is dear to the black
bee, and as the mango is dear to the
cuckoo, so is the Lord to my soul.
As the sun is dear to the sheldrake,
and the lake of Man Sarowar to the swan,
and as the husband is dear to the wife, so
is God to my soul.
As milk is dear to the baby and as
the torrent of rain is to the mouth of the
sparrow-hawk who drinks nothing but
raindrops, and as water is dear to the fish,
so is the Lord to my soul."(Ibid. 81-84)