The first city is generally considered to be Ur, which "dates from the Ubaid period circa 3800 BC" https://en.wikipedia.org/wiki/Ur
However, there's the Potbelly Hill "dating back to the 10thβ8th millennium BCE" https://en.wikipedia.org/wiki/G%C3%B6bekli_Tepe
I've heard of stone cities in Southern Africa that are believed to be older than 100K years, but that's not part of the known archeological record.
Some would argue, and I'm inclined to agree, that civilization could be considered to date to the beginning of the Stone Age, which "lasted for roughly 3.4 million years" https://en.wikipedia.org/wiki/Stone_Age
Stone knives aren't primitive, they're sophisticated ( https://en.wikipedia.org/wiki/Lithic_reduction ), arguably the product of a human (as contrasted with animal) mind.
Watch animals: they meditate instinctively. Dogs, cats, birds, they all do it.
Just like animals all stretch instinctively. (We had some chickens for awhile this year and they stretch too. It's funny: they stretch the wing and leg on one side together, then the other side.)
What I'm saying is, "yoga" and "meditation" are necessary for survival. You gotta remember civilization is only 12K years old, that's nothing in the biological scheme of things. We should be spending a lot more time napping and "zoning out".