The Eight Limbs of Yoga

"If you engage earnestly in the various practices of making yourself whole,
all your impurities will be destroyed:
and then you will gain the light of wisdom,
a revelation beyond even discrimination.
The eight limbs are self-control, commitments,
the physical poses, control of the breath,
withdrawal of the senses,
focus, fixation, and perfect meditation."
-  Yoga Sutra, II 28-29

"The commitments are to be clean,
to be contented with whatever we have,
to embrace hardships for higher goals,
to engage in regular study,
and to seek our Master's blessings."
-   Yoga Sutra, II 32
    Translated by Geshe Michael Roach

The Essential Yoga Sutra: Ancient Wisdom for Your Yoga.  By Geshe Michael Roach and Lama Christie McNally.  New York, Doubleday, Three Leaves Press, 2005.  Index, no pagination.  ISBN: 9780385515368.  Commentaries on Patanjali's Yoga Sutra, circa 200 CE.  

"I bow to the lotus feet of the gurus,
 The awakening happiness of one's own self revealed,
 Beyond better, acting like the jungle physician,
 Pacifying delusion, the poison of samsara.
 Taking the form of a man to the shoulders,
 Holding a conch, a discus, and a sword,
 One thousand heads white,
 To Patanjali, I salute."
 -  Ashtanga Vinyasa Yoga Mantra