If you consider yoga as a method for coming to know yourself, then yes. But if you consider it as a method of just physical exercise, or mechanical manipulation of different states of consciousness, then no. Anything which leads you towards a deeper awareness of yourself is going to be a liberating force - whether it is with envy, fear, or any other mental state. Because the problem is not that envy is there - the problem is that one is that one has been unable to remain a witness to any mental state without forming an attachment, without becoming entangled in it. Because you are not able to remain a witness in the present without clinging to whatever arises in your experience - then if fear is there, you become a slave to fear. If envy is there, you become a slave to your envy. Even if love is there, you become a slave to your love.
To understand envy - you have to see it as it is, without liking or disliking, without attraction towards it or aversion from. The moment you see it without judgment, then in that very seeing there comes a certain freedom. But if you are constantly focused on finding a cure somewhere in the future rather than understanding your own condition in this very moment, then you can continue moving in vicious circles endlessly.