Born in Gandhara in north India as a Brahmin's son, he first followed the Abhidharma system but was later converted to Mahayana. He composed numerous discourses on the Yogacara philosophy and practice, including the Mahayana-samgraha-sastra and Prakaranaryavaca-sastra. In the Tibetan tradition, he is also attributed with the authorship of the Yogacarabhumi-sastra. Myth says that he often visited Tushita Heaven to receive the teaching from Maitreya. His younger brother Vasubandhu further developed Yogacara doctrine.
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