Yoga Nidra is of Tantric origin.
The methodical rotation of awareness in the body, which developed from the tantric practice of nyasa (meaning "to put" or "to take the mind to that spot"), is a distinguishing aspect of yoga nidra.
Nyasa is done in a sitting position and involves the recitation of certain mantras that were placed, felt, or experienced in various areas of the body.
The mantra is placed there after the name of the component was repeated, then it was imagined or touched.
During tantric ritual activities, Nyasa is a way of consecrating the physical body by introducing higher awareness or divine consciousness into the different organs.
The Angushtadi-Shadanga-nyasa is used to insert mantras in the hand in the following manner:
• Thumb: Hram angushtabhyam namah
• Index finger: Hrim tarjanibhyam swaha
• Middle finger: Hrum madhyamabhyam vashat
• Ring finger: Hraim anamikabhyam vashat
• Little finger: Hraum kanishthabhyam vaushat
In the Hridayi-Shadanga-nyasa, several mantras were put in various areas of the body in a similar manner.
People who are unfamiliar with Sanskrit mantras can benefit fully from the traditional nyasa by using the current type of yoga nidra.
Anyone, regardless of faith or culture, may benefit from it. I used to refer to this practice as "yogic sleep," but as I've grown more aware of yoga nidra's wide potentialities, I believe that yoga nidra is nothing more than just yoga nidra, so we should call it by its name regardless of the language we speak.
You may also want to read more about Yoga Nidra here.