Ancient Indian sages composed the Kama Shastra ( kama sutra picture ) on the basis of the Vedas. The first formulation of the Kama Shastra, or the rules of love, is attributed to Nandi, Shiva's companion. It is preserved today in the form of the 'Kamasutra' written down by the sage Vatsyayana sometime between the first and sixth century A.D. The Kama Sutra is recognised as the true surviving text of the original Kama Shastra.