Historians have not pin-pointed the exact time Ayurveda came into being. Most agree that Ayurvedic classical texts were written in India between 3,500 and 5,000 years ago, though some suggest an even longer history.
The origins of this system of course are lost in time. In legend it is said to have been taught by the creator, Brahma, to the Prajapati Daksha. (One of the lords of the animals) who taught it in turn to the divine twins called the Ashwinikumars.
Ashwinikumars are the heavenly healers. They taught Indra, the chief of the shining ones. The personages mentioned were deities of early Vedic times. When mankind started suffering from various diseases the wise men like Bharadvaja learnt from Indra the knowledge of medicine. Gradually the huge amount of knowledge accumulated was divided systematically into different branches.
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