Yoga consists of asanas (body postures or poses) with stretches, breathing exercises, and meditation, all combined into one. Yoga has since been studied extensively to uncover its benefits on mental, emotional, and physical health. Many different types of yoga focus on various aspects of the practice.
Mindfulness refers to any technique where you focus on being keenly aware of sensations and feelings in the moment. There are many ways to practice mindfulness. Any time you are fully focusing on and engaging at least one of your five senses or any time you are engaged in deep, non-judgmental metacognition, you are being mindful.