Ashtanga Yoga

Rāja yoga ("royal yoga", "royal union", also known as classical yoga and aṣṭānga yoga) is concerned principally with the cultivation of the viewer's (ṛṣih) mind using a succession of steps, such as meditation (dhyāna, dhyana) and contemplation (samādhi, samadhi). Its object is to further one's acquaintance with reality (viveka), achieve awakening (moksha) and eventually enlightenment, kaivalya.
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