The great sage, Patanjali,
organized and systematized the study of the human internal states and
yogic teachings into 196 sutras. These sutras are called the Yoga Sutras, or the yoga darsana.
to yoga darsana, the universe is the result of the interaction of nature (prakriti)
and the self (purusha).
The objective of yoga is to still disturbances of the mind in order to reach a goal of unity with the universe, also known as enlightenment or
liberation. These mental obstacles prevent liberation. To help calm
the mind, yoga darsana dictates both moral and practical steps. The Sutras describe these as the Eight Limbs of Yoga. They include yama (integrity, ethics), niyama (self-discipline and spiritual observance), asana (posture or pose), pranayama (control of the breath), pratyahara (withdrawal from the external world and detachment from the senses), dharana (concentration), dhyana (meditation, contemplation) and samadhi (the state of being one with the Divine; ecstasy).