The Yoga Sūtras of Patañjali – A Visual Meditation. Book Two, Sādhana-Pādaḥ, On Practice 

What does it mean – to practice Yoga? Book Two, Sādhana Pāda “On Practice” gets into the nuts-and-bolts. The second half of Book Two introduces the eight-limbed Yoga practice – probably the section of the text that is most well-known in the West – and describes the first five limbs of that practice, which includes āsana. The first half of Book Two introduces a basic practice (kriyā-yoga) and then segues into a discussion of the philosophical basis for Yoga from its “sister” philosophy,  Sāṁkhya.

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The Śiva Sūtras

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The Yoga Sūtras of Patañjali, Book I