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Ashtanga Yoga Ashtanga Yoga (eight limbs of yoga, Raja Yoga) is the classical Indian system of philosophy and practice (composed by Patanjali perhaps ca. 200 BCE) consisting of these eight behavior precepts: Yama (see below) niyama - Commitments to practice, such as study and devotion asana - integration of mind and body through physical activity pranayama - integration of mind and body through breathing pratyahra - withdrawal of the senses of perception from their objects dharana - one-pointedness of mind dhyana - meditation (quiet activity that leads to samadhi) samadhi - the quiet state of blissful awareness Practice of these precepts is said to result in a state in which one's behavior spontaneously follows the five ethical precepts (Yamas): Ahimsa - refraining from injury (non-life supporting action) satya - truthfulness asteya - freedom from stealing bramacharya - living within the Self (moderation; abstinence) aparigraha - freedom from attachment to possessions