Yoga Sutras of Patanjali · 2.29

यमनियमासनप्राणायामप्रत्याहारधारणाध्यानसमाधयोऽष्टावङ्गानि ॥२९॥

yama-niyamāsana-prāṇāyāma-pratyāhāra-dhāraṇā-dhyāna-samādhayo'ṣṭāv aṅgāni

The eight limbs are: yama, niyama, asana, pranayama, pratyahara, dharana, dhyana, and samadhi.

— Yoga Sutras of Patanjali 2.29

Source: Sanskrit attributed to Patanjali (c. 2nd century BCE – 4th century CE). Public-domain English readings drawn from Swami Vivekananda's 'Raja Yoga' (1896) and Charles Johnston's 'The Yoga Sutras of Patanjali' (1912).