Hi, I do yoga every day since it helps me relieve stress and anxiety!. 
Yoga is is a group of physical, mental, and spiritual practices 
I see, and what types of yoga are there?
Depending on whether you are  Hinduism, Buddhism, and Jainism, it is quite broad and varies
I see, and when did yoga originate?
Asia, but to answer your previous question properly, the types that are common and well known are Hatha yoga and Rāja yoga
Do you know more about Rāja yoga? i have never even heard of it! 
The origin dates back to  pre-Vedic Indian traditions