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The Eight Limbs of Yoga: Patanjali's Yoga Sutras is a classic yoga text describing the eight limbs of yoga, known as the Ashtanga. These limbs include moral ethics (Yamas and Niyamas), physical postures (Asanas), breath control (Pranayama), withdrawal of the senses (Pratyahara), concentration (Dharana), meditation (Dhyana), and enlightenment (Samadhi).