Six-limbed yoga
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yoga of six limbs: shadangayoga
Ancient six-limbed yoga, called Shadangayoga, which appears to be a prototype to the later eight-limbed yoga-system (Ashtângayoga) of the great Hindu teacher Patañjali, Shadangayoga is also found in the Guhyasamâja-tantra and Kâlacakra-tantra of Mahâyâna Buddhism.
Although profoundly metaphysical in its theory, the six-limbed yoga has an extremely well-developed praxis or practice aspect, historically shown to be highly efficacious in achieving intended results within the subtle body of the sâdhaka or practitioner.
Although the yoga had an ancient origin, its applicability is still valid today, mainly through the worldwide practice of Râja-yoga and the Buddhist anuttarayoga or non-dual yoga tantras such as the two mentioned above.