Hatha yoga, originally developed by Yogi Swatmarama during the Classical period in the 15th century, is based on the eightfold path codified in the Yoga Sutra. The eight limbs of this path consist of:
- Yama, ethical values
- Niyama, ritual observance;
- Asanas, positions;
- Pranayama, regulated breathing,
- Pratyahara, inwardness
- Dharana, concentration;
- Dhyana, meditation
- Samadhi, self-realization



