Upanishad

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The Maitrayaniya Upanisad (2nd or 3rd century BC) defines yoga as "The oneness of the breath and mind, and likewise of the senses, and the relinquishment of all conditions of existence" for the purpose of uniting Brahman with Atman. It presents a sixfold path including

(1) pranayama ("breath control")
(2) pratyahara ("withdrawal of the senses from objects")
(3) dhyana ("meditation")
(4) dharama ("concentration")
(5) tarka ("contemplation")
(6) samadhi ("absorption")

See also

Veda Yoga

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