In a nutshell, there is a branch of Yoga that derives from Samkhya (one of the most important pshilosophical schools of India).
Many years later that Yoga was about to disappear, until Patanjali took upon himself the task of gathering all te pieces together and reformulate it again, in a way as similar as possible to the original Samkhya Yoga.
He wrote his work down in the book called Yoga Sutras, which have become eversice the "manual" of yoga throughout the world.
The Yoga presented in the Yoga Sutras is called Raja Yoga (i.e., The King of the Yogas) or Ashtanga Yoga (i.e., The Yoga of The Eight Branches).
However valuable (it is indeed a masterpiece) is almost impossible to undesrtand, since the Sutras were practical manulas written in a brief manner, codifyied so as only the initiates could understand it.
Thus the need for commentaries made by people who not only know a lot of yoga, but who have experienced its practices themselves, since many of them cannot be understood no matter who plainly explained the might be, the must have been experienced and lived.
Out of the moder commentaries, i would say that this one, by Paramahamsa Satyananda Saraswati, and the one entitled "Raja Yoga" by Swami Vivekananda are the best approach to this fascinating yet difficul subject: indeed, Raja Yoga is not meant for begginers inasmuch as it is an advanced practice or sadhana.
Yet Satyananda's commentary is extraordinary since it presents:
1) The original sanscrit.
2) The transliteration of that phrase.
3) A translation word for word.
4) A complete english translation
5) A lenghty commetary on tne meaaning of the phrase.
As another Swamiji put it, in the introduction, this is a Manual that every psychologist and psychiatrist should have on their desks, since it brings forth a new (yet old) psychology far deeper and far more effective than anything we have had so far.
I really do reccommed this one book, as all those of the Yoga Publications Trust.
It is my belief that the three best collection on Yoga are:
1) Yoga Publications Trust
2) The Complete Works of Swami Sivananda Saraswati
3) The Complete Work of Swami Vivekananda
Enjoy!
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A valuable book, arrived in perfect condition
Reviewed in the United Kingdom on February 20, 2021