We have investigated magneto-structural phase transitions in polycrystalline YVO3 using high-resolution neutron powder diffraction toward understanding the phenomenon of magnetization reversal. Contrary to earlier reports, our study reveals that both C-type and G-type antiferromagnetic ordering, corresponding to G-type and C-type orbital ordered phases, respectively, occur at the same temperature (T-N = 115 K) with the G-type antiferromagnetic phase growing at the expense of the C-type one on cooling. These processes cease at T-S similar to 77 K; however, a minor (similar to 4%) untransformed C-type phase remains unchanged down to 1.7 K. The symmetry analysis indicates different symmetry origins of the Dzyaloshinskii-Moriya interaction in each phase, which can explain the magnetization reversal observed between T-N and T-S. We discuss that magnetic phase separation and associated weak ferromagnetism may be the common mechanism underlying the magnetization reversal phenomenon observed in other RVO3 systems (R = rare earth).