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O Seeker! You cannot realise the Absolute or the infinite until you have overcome the body-idea.

Raja Yoga Sutra by Patanjali, with commentary by Sri Swami Sivananda - Random Selection

Raja Yoga Sutra Selection # 87

From Discourse II: "Sadhana Pada- On Spiritual Disciplines"

II.29. YAMA-NIYAMA-ASANA-PRANAYAMA-PRATYAHARA-DHARANA-DHYANA-SAMADHAYO 'STA ANGANI.

'"Yama", "niyama", "asana", "pranayama", "pratyahara", "dharana", "dhyana", and "samadhi" are the eight limbs.
The eight limbs can be translated as: A) Yama: Abstentions or restraints B) Niyama: Observances which cultivate positive qualities C) Asana: Yoga postures D) Pranayama: Yogic breathing E) Pratyahara: Withdrawal of senses E) Dharana: Concentration F) Dhyana: Meditation G) Samadhi: Superconsciousness

Commentary:
Raja Yoga is sometimes called 'Ashtanga Yoga', or Yoga of eight limbs. They translate, in the order given above, as self restraints, observances, postures, regulation of breath, withdrawal of the mind from sense objects, concentration, meditation and the superconscious state.

Bhagavad Gita Quote with commentary by Sri Swami Sivananda - Random Selection

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