योगासन (Sanskrit) comes from Sanskrit आसन, from Sanskrit आस्ते, from Proto-Indo-Aryan Hā́stay, from Proto-Indo-Iranian Hā́stay, from Proto-Indo-European h₁ḗsti, from Proto-Indo-European h₁ēs- — to be.
Ancestry of “योगासन”, step by step
योगासन traces back through two separate lines of ancestry.