The word 'Yoga' comes from the Sanskrit root 'Yuj' which means 'to join'. By the practice of yoga, the individual soul (jivatma) is united with the supreme soul (paramatma). Yoga means union with God. Then all samsara (cycle of birth and death) comes to an end.
http://www.sivananda.org/teachings/yoga.htm : Although many people think this term refers to union between body and mind or body, mind and spirit, the traditional acceptance is union between the Jivatman and Paramatman that is between one's individual consciousness and the Universal Consciousness. Therefore Yoga refers to a certain state of consciousness as well as to methods that help one reach that goal or state of union with the divine.
Hatha Yoga Pradipika : ...Yoga perishes by these six: overeating, overexertion, talking too much, performing needless austerities, socializing, and restlessness...Yoga succeeds by these six: enthusiasm, openness, courage, knowledge of the truth, determination, and solitude...
Eight Lectures On Yoga by Mahatma Guru-Sri Paramahansa Shivaji-Aleister Crowley
The Eight Limbs : Yama. Niyama. Asana. Pranayama. Pratyahara. Dharana. Dhyana. Samadhi.
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