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There are both differences and similarities between Yoga and Pilates. The biggest difference is that Pilates uses a line of equipment that does not exist in yoga. But the theory of mind-body connection exists in both Yoga and Pilates. They also share a fluidity of movement.
A big difference between yoga and pilates, however, is that pilates was developed as a method of working and shaping the body that depends upon the "core" or abdominal muscles. In mainstream classes pilates would be much more focused on the work out factors than a yoga class might be.