The Bodhidharma (yep, it's a title...), travelled over the himalayas from India, where he was a master of Yoga. He did this on FOOT, mind you.....no small feat, even today in a car!
When he arrived in China, he could not find anywhere to stay and continue his teachings. He discovered the Shaolin Temple (which one first, is still under some debate), where he discovered the monks were a lazy, out of shape bunch. He observed them meditating, and saw that the general effect the meditations had on the monks was to put them to sleep.
He went from the temple into the mountains, to meditate on the problem. He felt that the monks had great potential, and were wasting away in the present practices.
While in the mountains, he closely observed the animals around him, and developed a system of movement (the 18 Lohan Fist), which was a collection of animal movements.
He returned to the temple, and taught these techniques (movements) to the monks, and asked that they perform these movements during thier meditations.
It was soon discovered, that while the monks performed the movements in a meditative state, that they had skill and strength which surpassed reason. The monks, who had long been victims of bandits while on the roads, expounded on the ideas and teachings of the Bodhidharma, and expanded the set of movements to the original five animal forms.
And yes, he also taught the Bone Marrow Washing, and the Tendon Changing, which are techniques based in Tibetian Yoga.
The monks continued to train, and expand thier knowledge base, bringing Kung Fu into being for the first time....

At least, thats how I know the story....


Peace and Truth,

Tzujan