Ishwara Yoga

Rāaja Yoga ("royal yoga", "royal union", also known as Classical Yoga and Ashtanga Yoga) is concerned principally with the cultivation of the mind using meditation (dhyana) to further one's acquaintance with reality and finally achieve liberation.

Raja yoga was first described in the Yoga Sutras of Patanjali, and is part of the Samkhya tradition.

 THE EIGHT LIMBS OF RAJA YOGA

Compiled by the Sage Patanjali Maharishi in the Yoga Sutras, the Eight Limbs are a progressive series of steps or disciplines which purify the body and mind, ultimately leading the yogi to enlightenment. These 8 limbs are:
Yamas - The Yamas or restraints (Don'ts) are divided into five moral injuctions, aimed at destroying the lower nature. They should all be practiced and developped by the letter but also more importantly in the spirit. They should all be practiced in word, thought and deed.
Ahimsa or non-violence
Satyam or truthfulness
Brahmacharya or moderation in all things (control of all senses). Also refers to celibacy
Asteya or non-stealing
Aparigraha or non-covetousness
Niyamas - The Niyamas or observances (Do's) are also divided into five and complete the ethical precepts started with the Yama.. These qualities are:
Saucha or purity - this internal and external cleanliness.
Santosha or contentment
Tapas or austerity
Swadhyaya or study of the sacred texts
Ishwara Pranidhana which is constantly living with an awareness of the divine Presence (surrender to God's Will)
Asanas - Postures
Pranayama - regulation or control of the breath. Asanas and Pranayama form the sub-division of Raja Yoga known as Hatha-Yoga
Pratyahara - withdrawal of the senses in order to still the mind.
Dharana - concentration. The last 3 steps constitute the internal practice of Raja Yoga. When Dharana is achieved, it leads to the next step:
Dhyana - meditation is that state of pure thought and absorption in the object of meditation. There is still duality in Dhyana. When mastered Dhyana leads to the last step:
Samadhi - the superconscious state. In Samadhi non-duality or oneness is experienced. This is the deepest and highest state of consciousness where body and mind have been transcended and the Yogi is one with the Self or God.