The Yoga Sutras have 8 limbs: Yama - abstentions like non-lying, non-stealing, non-harming, chastity, non-greed; Niyama - observances like contentment, cleanliness, mortification, Self - study, devotion to god; Asana - physical postures that are practiced with steadiness and ease and keep the body balanced; Pranayama - breath regulation to control
prana (universal enlivening force); Pratyahara - withdrawing the mind from sense objects; Dharana - concentrated focus; Dhyana - sustained, uninterrupted focus on a single object for 2 minutes and 24 seconds or meditation; Samadhi -
direct knowledge, enlightenment (this has several stages).