Yoga as Philosophy and Religion by Surendranath Dasgupta (Paperback, 2007)

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A practical guide by an experienced teacher, this book shows how the highest form of yoga, the R jayoga espoused by the great sage Patanjali, serves as a path to the kind of mental steadiness that ultimately yields self-realization. It explains the foundation of yoga practices their philosophical, psychological, cosmological, ethical, and religious doctrines and compares the essential features of R jayoga with other yoga systems.
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