Several centuries ago a great yogi named Patanjali created what is known as the Yoga Sutras. Within these texts, he described an eightfold path culminating in enlightenment. These "steps" are not meant to be conquered one by one, but instead offer a guide for the student of yoga to follow on the journey that is yoga.

The First Limb is known as The Yamas, or the practice of self-restraint. The Yamas include: Ahimsa (non-violence), Satya (truthfulness), Asteya (non-theft), Brahmacharya (abstinence), and Aparigraha (detachment). In a nutshell, this limb encourages the yoga student to follow a peaceful path, being true to one's self while not succumbing to the wants and desires of the physical world.

The Second Limb is The Niyamas, or the actions a yogi should follow. The Niyamas include: Shauca (purity), Santosha (contentment), Tapas (discipline), Swadhyaya (introspection), and Ishwarapranidhana (surrender). This limb is about living in the present while treating the body as a temple through dedicated practice, self-exploration, and surrendering to the divine.

The Third Limb is the most commonly known: Asana. Asanas are the physical postures or poses that are performed in yoga classes all around the globe. These poses were developed thousands of years ago as an aid in developing one's ability to sit for prolonged periods of time for the purpose of meditation.

Pranayama is the Fourth Limb, and is often included in yoga classes as breath work. Pranayama can often be understood as "the breath of life." Yogic breathing techniques are used to increase energy, expel toxins and calm the mind.

Pratyahara, or the Fifth Limb, is the withdrawal of the senses. This limb works in conjunction with the Yamas and Niyamas as students learn to detach from desires of the physical world and focus more on the development of the spiritual body. This does not mean that a yogi can never eat chocolate or live in nice home. It simply means that a yogi is not living at the whim of his or her desires, be they for money, food, sex, or power.

The Sixth Limb is known as Dharana, or concentration. As Patanjali wrote in Yoga Sutra 3:1, "Fixing the mind within a point or area." Training the mind to focus is essential in setting the stage for meditation.

Dhyana, or meditation, is the Seventh Limb. It is in the practice of meditation that the yogi can connect with his or her True Self.

Samadhi is finally achieved when the yogi reaches enlightenment or a state of bliss by following the previous seven limbs of yoga.