The Yoga session was held at the expansive North Lawn in the UN Headquarters.
The prime minister was wearing a customised white yoga T-shirt and trousers.
The session was attended by top UN officials, ambassadors, envoys and delegates.
People from 135 countries attended the yoga session.
People performed asanas such as Tadaasan, Brahmari, Padahastaasan, Vrajaasan, Bhujangaasan and Ardhchakraasan.
Modi also addressed the people at the UN Headquarters.
Modi began his address with a 'Namaste' and thanked people for coming from far away.
Modi described Yoga as truly universal and free from copyrights and patents.
PM interacted with children during the 9th International Day of Yoga celebrations.
The event created Guinness World Record for the participation of people of most nationalities.
LED screens playing videos of Indian culture and heritage were set up on the lawn.
PM Modi paid his respects to the bust of Mahatma Gandhi.
Modi also paid tributes at the Wall of Peace at the UN HQ.
The first International Day of Yoga was commemorated in 2015.
UN underlined Yoga as is an ancient physical, mental and spiritual practice that originated in India.
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