A text that is really essential to anyone's understanding of Indian philosophy or the practice of yoga. Barbara Stoler Miller's translation is her masterpiece...a great translation.-- Wendy Doniger, University of Chicago Divinity School Yoga is at the heart of the spiritual and physical disciplines of the East, and Patanjali's Yoga Sutra is at the heart of yoga. Yet until now no translation of this essential text has made it fully accessible to the nonspecialist reader. Within these pages is the earliest known statement of the philosophical and psychological insights that define yoga as the ultimate mind-body discipline. Patanjali's brilliantly concise aphorisms outline step by step the means for breaking free of habitual ways of thinking and acting, transcending the conflicts and seductions of daily experience, and attaining true inner liberation. In addition to a beautiful and faithful rendering of the original, Barbara Stoler Miller, the highly acclaimed translator of the Bhagavad-Gita, offers a lucid and comprehensive commentary as well as a glossary of key words and concepts. At once poetic and practical, this translation of one of the great works of world spirituality is destined to become a classic in its own right for a new generation of seekers.