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Yajur is derived from the word "yaj" which means worship and Yajur means the method of worship. The Yajur Ved and Sam Ved have emerged from Rig Ved. The Yajur Ved describes the procedure, rules and regulations for Yagna.
Existance of Shukla Yajur Ved :-
Yajnavalkya was the student Vaishampayana. Once there was a quarrel between Vaishampayana and Yajnavalkya. Out of anger Vaishampayana ordered Yajnavalkya to give him back the knowledge which was given to him. On hearing this Yajnavalkya vomited out all the knowledge in the form of food. The other disciples ate that food in the form of the Tittiri bird because of this Yajur Ved had another branch known as Taittiriya Yajur Ved. It is also known as Krishna (black) Yajur Ved as it was in the form of vomit.
After this Yajnavalkya was determined not to have any human master and requested Sun God to give him true knowledge of Vedas. On being pleased with Yajnavalkya the sun God gave him the knowledge of all the Vedas and the knowledge of Yajur Ved was known as Shukla (white) Yajur Ved.
Shukla Yajur Ved is also known as Vajasaneya Yajur Ved, because it was give by Sun God. Yajnavalkya divided Vajasaneya Yajur Ved into fifteen branches; each branch contains hundreds of Yajna Mantras. Kanva, Madhyandina and others are branches of Shukla Yajur Ved.
Yajur Ved seeks to create a deeper level of consciousness among people. It sets forth a yogic practice that purifies not just the body, but also the mind. This helps in awakening the inner consciousness, which opens up new avenues of learning and understanding of life and existence. The Vedic scriptures are full of mantras that help in religious rituals.
The Yajur Veda also emphasizes on the same deities as the Rig Veda but in a different way. The main aim of reciting the sacred hymns is to awake the inner consciousness and bring together the cosmic energies within oneself. This opens up avenues for recreating a universal energy within the human psyche. This cosmic level of consciousness is very necessary in order to lead a life that is both meaningful and satisfying. Once ego and other vices are surrendered to the Divine force, a person can attain higher forms of happiness.
Yajur ved has 101 branches. Like the Rig Ved, the Yajur Ved too has two divisions. Samhita which is incantation and adhvaryu which is the explanation of the same. Interestingly most of the poetic component of the Yajur Ved derives a lot from the hymns of the Rig Ved. The remaining is in prose.
The Yajur Ved gets its name from the word yaj which means sacrifice. While we may never find out who composed the veds, it's said that sage Ved Vyas taught the four veds to four of his disciples. Paila was taught the Rig Ved. Sam Ved to Jaimini and the Atharv Ved to Sumantu.
The Yajur Ved was taught to Vaishampayana. He in turn taught the Yajur Ved to twenty seven pupils and over the years the ved branched off into Three schools Taittiriya, Krishna Yajur Ved, and Shukla (white) Yajur Ved. The Gods who feature in the Veds are many. The three major Gods are Agni, Indra and Surya. But there are many other gods who are manifestations of the various aspects of nature but, if you have a modern mindset, you may identify what some sages believed. They said that the supreme force was broken into various cosmic fragments for human understanding.
The Yajur Ved reminds you that if you are not destined to rule their own lives through knowledge, karma is another way that will lead you to the goal. The trick is to accept that there is a scheme of things at play. This scheme of things is also called life. Everything, every event has been planned before and every event has a bearing on the other.