Patanjali is traditionally considered the author of the Yoga Sutras.

The Yoga Sutras provide a detailed guide to the practice of yoga, including the eight limbs of yoga.

The eight limbs of yoga are Yama (moral restraints), Niyama (self-observances), Asana (physical postures), Pranayama (breath control), Pratyahara (withdrawal of the senses), Dharana (concentration), Dhyana (meditation), and Samadhi (enlightenment).

The ultimate goal of the eight limbs of yoga is to achieve spiritual liberation (moksha), which is the state of freedom from suffering and the cycle of rebirth.

The first limb of yoga is Yama, which refers to the moral restraints or ethical guidelines that a yogi should follow.

The five Yamas are Ahimsa (non-violence), Satya (truthfulness), Asteya (non-stealing), Brahmacharya (continence), and Aparigraha (non-possessiveness).

The second limb of yoga is Niyama, which refers to the self-observances or positive duties that a yogi should cultivate.

The five Niyamas are Saucha (cleanliness), Santosha (contentment), Tapas (austerity), Svadhyaya (self-study), and Ishvara Pranidhana (surrender to God).

The third limb of yoga is Asana, which refers to the physical postures or poses that a yogi practices.

The primary purpose of Asana is to improve physical fitness and prepare the body for meditation.

The fourth limb of yoga is Pranayama, which refers to the control of breath.

The primary purpose of Pranayama is to improve mental health and concentration.

The fifth limb of yoga is Pratyahara, which refers to the withdrawal of the senses from external objects.

The primary purpose of Pratyahara is to attain spiritual liberation by detaching the mind from the senses.

The sixth limb of yoga is Dharana, which refers to the concentration of the mind on a single object.

The primary purpose of Dharana is to improve mental health and concentration.

The seventh limb of yoga is Dhyana, which refers to the meditation or contemplation on the object of concentration.

The primary purpose of Dhyana is to attain spiritual liberation by merging the mind with the object of concentration.

The eighth limb of yoga is Samadhi, which refers to the state of complete absorption or union with the object of concentration.

The primary purpose of Samadhi is to attain spiritual liberation by realizing the true nature of reality.