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.
Ashtanga Yoga
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