The Shrimad Bhagavad Gita, in Chapter 4, Verse 1, describes the ancient lineage of Yoga knowledge.
Lord Krishna explains that this divine teaching was initially given by the Sun God, Surya (also known as Vivasvan), to his son.
The son who received this Yoga Updesh from Surya was Manu.
Therefore, according to the Bhagavad Gita, Surya transmitted the Yoga Updesh to Manu.