The Eight Limbs are:
- Yama (The five "abstentions"): non-violence, non-lying, non-covetousness, non-sensuality, and non-possessiveness.
- Niyama (The five "observances"): purity, contentment, austerity, study, and surrender to god.
- Asana: Literally means "seat", and in Patanjali's Sutras refers to the seated position used for meditation.
- Pranayama ("Suspending Breath"): Prāna, breath, "āyāma", to restrain or stop. Also interpreted as control of the life force.
- Pratyahara ("Abstraction"): Withdrawal of the sense organs from external objects.
- Dharana ("Concentration"): Fixing the attention on a single object.
- Dhyana ("Meditation"): Intense contemplation of the nature of the object of meditation.
- Samādhi ("Liberation"): merging consciousness with the object of meditation.
Yoga and Samkhya
Patanjali systematized the conceptions of Yoga and set them forth on the background of the metaphysics of Samkhya, which he assumed with slight variations. In the early works, the Yoga principles appear along with the Samkhya ideas. Vyasa's commentary on the Yoga Sutras, also called the “Samkhyapravacanabhasya”, brings out the intimate relation between the two systems.
Yoga agrees with the essential metaphysics of Samkhya, but differs from it in that while Samkhya holds that knowledge is the means of liberation, Yoga is a system of active striving, mental discipline, and dutiful action. Yoga also introduces the conception of God. Sometimes Patanjali's system is referred to as “Seshvara Samkhya” in contradistinction to Kapila's “Nirivara Samkhya”.
Bhagavad Gita
- Karma yoga: The yoga of action,
- Bhakti yoga: The yoga of devotion,
- Jnana yoga: The yoga of knowledge.
Madhusudana Sarasvati (b. circa 1490) divided the Gita into three sections, with the first six chapters dealing with Karma yoga, the middle six with Bhakti yoga, and the last six with Jnana (knowledge). Other commentators ascribe a different 'yoga' to each chapter, delineating eighteen different yogas.
Hatha Yoga
Hatha Yoga is a particular system of Yoga described by Yogi Swatmarama, compiler of the Hatha Yoga Pradipika in 15th century India. Hatha Yoga differs substantially from the Raja Yoga of Patanjali in that it focuses on shatkarma, the purification of the physical body as leading to the purification of the mind (ha), and prana, or vital energy (tha). Compared to the seated asana, or sitting meditation posture, of Patanjali's Raja yoga, it marks the development of asanas (plural) into the full body 'postures' now in popular usage and, along with its many modern variations, is the style that many people associate with the word "Yoga" today.