Swami Vivekananda offers his understanding and application of Patanjali's Yoga Sutras in this book on Raja Yoga. Hatha yoga and contemporary asana techniques originated from Raja yoga, which incorporates lessons from all the various systems. The different components of Raja Yoga?Yama, Niyama, Asana, Pranayama, Pratyahara, Dharana, Dhyana, and Samadhi?combine to form the practise. Yama is used to relate to non-harm, honesty, non-covetousness, chastity, and not taking anything from the other in these. Asana refers to correcting posture and describing yoga poses, Niyama refers to routine habits or observances, Pranayam means mastering and enlivening the life energy, and Pratyahara refers to inward reflection. Focused concentration is known as dharana, meditation is known as dhyana, and freedom, emancipation, and enlightenment are known as samadhi.