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The eight limbs of Yoga:

Yamas-
Ahimsa:   Non-Violence
Satya:   Truthfulness
Asteya:   Non-Stealing
Brahmacarya:   Temperance
Aparigraha:   Non covetousness

Niyamas-
Sauca:   Cleanliness
Santosa:   Contentment
Tapas:   Discipline
Svadhyaya:   Study of self
Ishvaprapranidhana:   Devotion to an ideal

Asanas - the Yoga postures
Pranayama:   The art of Yoga breathing. To control and utilize the Prana (Life Force)
Pratyahara:   Awareness and control or discipline of the senses.
Dharana:   Concentration
Dhyana:   Meditation
Samadhi:   Beyond meditation – A state of truth and bliss. The ultimate goal of Yoga

The first five limbs of Yoga are external aspects of Yoga, while the last three are the internal aspects of Yoga.