Yoga Sutras of Patanjali in the context of "B.K.S. Iyengar"

Yoga (UK: /ˈjəʊɡə/, US: /ˈjoʊɡə/; Sanskrit: योग 'yoga' [joːɡɐ] ; lit. 'yoke' or 'union') is a group of physical, mental, and spiritual practices or disciplines that originated with its own philosophy in ancient India, aimed at controlling body and mind to attain various soteriological goals (moksha), as practiced in the Hindu, Jain, Sikh, and Buddhist traditions.

Yoga may have pre-Vedic origins, but is first attested in the early first millennium BCE. It developed as various traditions in the eastern Ganges basin drew from a common body of practices, including Vedic elements. Yoga-like practices are mentioned in the Rigveda and a number of early Upanishads, but systematic yoga concepts emerge during the fifth and sixth centuries BCE in ancient India's ascetic and Śramaṇa movements, including Jainism and Buddhism. The Yoga Sutras of Patanjali, the classical text on Hindu yoga, samkhya-based but influenced by Buddhism, dates to the early centuries of the Common Era. Hatha yoga texts began to emerge between the ninth and 11th centuries, originating in tantra.

Yoga philosophy is one of the six major important schools of Hindu philosophy, though it is only at the end of the first millennium CE that Yoga is mentioned as a separate school of thought in Indian texts, distinct from Samkhya. Ancient, medieval and modern literature often simply call Yoga philosophy Yoga. A systematic collection of ideas of Yoga is found in the Yoga Sutras of Patanjali, a key text of Yoga which has influenced all other schools of Indian philosophy.

The metaphysics of Yoga is Samkhya's dualism, in which the universe is conceptualized as composed of two realities: Puruṣa (witness-consciousness) and Prakṛti (nature). Jiva (a living being) is considered as a state in which puruṣa is bonded to Prakṛti in some form, in various permutations and combinations of various elements, senses, feelings, activity and mind. During the state of imbalance or ignorance, one or more constituents overwhelm the others, creating a form of bondage. The end of this bondage is called liberation, or mokṣa, by both the Yoga and Samkhya schools of Hinduism, and can be attained by insight and self-restraint.

Samādhi (Pali and Sanskrit: समाधि), in the Indian religions, is a state of meditative consciousness. In many such traditions, the cultivation of samādhi through various meditation methods is essential for the attainment of spiritual liberation (known variously as nirvana, moksha).

In Buddhism, it is the last of the eight elements of the Noble Eightfold Path. In the Ashtanga Yoga tradition, it is the eighth and final limb identified in the Yoga Sutras of Patanjali. In Jain meditation, samadhi is considered one of the last stages of the practice just prior to liberation.

An āsana (Sanskrit: आसन) is a body posture, originally and still a general term for a sitting meditation pose, and later extended in hatha yoga and modern yoga as exercise, to any type of position, adding reclining, standing, inverted, twisting, and balancing poses. The Yoga Sutras of Patanjali define "asana" as "[a position that] is steady and comfortable". Patanjali mentions the ability to sit for extended periods as one of the eight limbs of his system. Asanas are also called yoga poses or yoga postures in English.

The 10th or 11th century Goraksha Sataka and the 15th century Hatha Yoga Pradipika identify 84 asanas; the 17th century Hatha Ratnavali provides a different list of 84 asanas, describing some of them. In the 20th century, Indian nationalism favoured physical culture in response to colonialism. In that environment, pioneers such as Yogendra, Kuvalayananda, and Krishnamacharya taught a new system of asanas (incorporating systems of exercise as well as traditional hatha yoga). Among Krishnamacharya's pupils were influential Indian yoga teachers including Pattabhi Jois, founder of Ashtanga (vinyasa) yoga, and B.K.S. Iyengar, founder of Iyengar yoga. Together they described hundreds more asanas, revived the popularity of yoga, and brought it to the Western world. Many more asanas have been devised since Iyengar's 1966 Light on Yoga which described some 200 asanas. Hundreds more were illustrated by Dharma Mittra.

Satya (Sanskrit: सत्य; IAST: Satya) is a Sanskrit word that can be translated as "truth" or "essence.“ Across Indian religions, it stands as a deeply valued virtue, signifying the alignment of one's thoughts, speech, and actions with reality. In Yoga philosophy, particularly in Patañjali's Yoga Sutras, Satya is one of the five yamas—moral restraints designed to cultivate truthfulness and prevent the distortion of reality through one’s expressions and behavior.

Pranayama (Sanskrit: प्राणायाम, "Prāṇāyāma") is the yogic practice of controlling the breath in Hinduism. It is described in Hindu texts such as the Upanishads and the Bhagavad Gita; in the Yoga Sutras of Patanjali, it is one of the eight limbs of yoga. In classical yoga, the breath is associated with the life energy or prana. Later, in Hatha yoga texts, it meant the complete suspension of breathing. The pranayama practices in modern yoga as exercise differ from those of the Hatha yoga tradition, often using the breath in synchrony with movements.

Ashtanga yoga (Sanskrit: अष्टाङ्गयोग, romanized: aṣṭāṅgayoga, "eight limbs of yoga") is Pātañjali's classification of classical yoga, as set out in his Yoga Sūtras. He defined the eight limbs as yama (abstinences), niyama (observances), āsana (postures), prāṇāyāma (breath control), pratyāhāra (withdrawal of the senses), dhāraṇā (concentration), dhyāna (meditation), and samādhi (absorption).

The eight limbs form a sequence from the outer to the inner. The posture, asana, must be steady and comfortable for a long time, in order for the yogi to practice the limbs from prāṇāyāma until samādhi. The main aim is kaivalya, discernment of Puruṣa, the witness-conscious, as separate from Prakṛti, the cognitive apparatus, and disentanglement of Puruṣa from its muddled defilements.