Although Ayurveda and Yoga are both ancient Indian healing systems, the explicit combination (or integration) of Ayurveda and Yoga into a distinct Yoga modality is a rather modern practice.
In fact, Ayurveda Yoga is a modality that brings or applies Ayurvedic principles into the Yogic practice. It means, for instance, that one’s Dosha-type guides the type of Yoga exercises and Asanas (Yoga poses) that are suitable for you. Or, if one experiences depletion or excess of one or more Doshas, the type of Yoga exercises will be adapted to rebalance the Doshas.
As Ayurveda is also very much occupied with food and herbs, this will also be of importance in one’s Yoga practice, that is, the type of nutrition one needs (or is good for us) supports us in having (or carrying out) a better Yoga practice.
The bridge to massage treatments and acupressure is also made easily. Ayurveda Medicine is strong in a wide variety of massage therapies and can address the same underlying principles as known in Yoga, such as the Nadis, Marma points, Chakras, and Prana energy flow. As such, Yoga exercises combined with Ayurvedic massages make for an enhanced therapeutic mixture to tackle health conditions.
Another aspect of Ayurveda that makes for a good integration with Yoga is Dinacharya, which is the Ayurvedic daily Self-Care practice. Ayurveda Yoga typically aims at incorporating Dinacharya Self-Care principles into the practice.
For the rest, there’s not so much difference between Ayurveda Yoga and, for instance, Hatha Yoga, Ashtanga Vinyasa Yoga, or Iyengar Yoga as for the Yogic techniques used. You will see the same type of exercises incorporated in the practice, such as Mantras, Pranayama, Asanas, Mudras, Bandhas, and meditation, among other common elements.