Yoga sutra 2.29 states, Yama niyamasana pranayama pratyahara dharana dhyana samadhi astau angani: The eight limbs of yoga are: yama (self-regulation), niyama (observances), asana (posture), pranayama (breath control), pratyahara (withdrawal of senses), dharana...

Exploring The Yoga Sutras of Patanjali: Sutra 2.29
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