Yogācāra, also known as the "Mind-only" school, is a philosophical system within Mahayana Buddhism that focuses on the nature of consciousness and its role in shaping our perception of reality. It emerged in India during the 4th century CE and became one of the major schools of Mahayana Buddhism, alongside the Madhyamaka and Tathāgatagarbha schools.

The relationship between Yogācāra and Mahayana Buddhism is a complex and multifaceted one. On one hand, Yogācāra can be seen as a continuation and development of the Mahayana teachings, particularly the concept of "emptiness" (śūnyatā) found in the Prajñāpāramitā sutras. The Yogācāra school also shares the goal of attaining enlightenment for the benefit of all beings, which is a central tenet of Mahayana Buddhism.

On the other hand, Yogācāra also differs from other Mahayana schools in its emphasis on the nature of consciousness and its relationship to reality. According to Yogācāra, our perception of reality is a projection of our consciousness, and therefore, our experience of the world is ultimately subjective. This is in contrast to the Madhyamaka school, which posits that reality is ultimately empty of inherent existence, and the Tathāgatagarbha school, which teaches that all beings possess the potential for enlightenment.

One of the key concepts in Yogācāra is the "storehouse consciousness" (ālayavijñāna), which is seen as the foundation of all consciousness and the source of all mental and emotional tendencies. This concept is not found in other Mahayana schools and is unique to Yogācāra. The storehouse consciousness is seen as the repository of all past experiences and impressions, which shape our perception of reality in the present.

Another significant aspect of Yogācāra is its teachings on the "eight consciousnesses," which include the five sensory consciousnesses, the storehouse consciousness, and two additional consciousnesses that are responsible for the perception of self and the perception of others. These teachings highlight the role of consciousness in creating our sense of self and our relationships with others.

In conclusion, the relationship between Yogācāra and Mahayana Buddhism is one of both continuity and divergence. While Yogācāra shares many fundamental beliefs and goals with Mahayana Buddhism, it also offers unique perspectives on the nature of consciousness and its relationship to reality. This makes Yogācāra an important and influential school within the broader framework of Mahayana Buddhism.