Ethics, personal disciplines, posture, breath control, withdrawal of the senses, concentration, meditation and absorption are the eight limbs.

Unfolding the thread

Here is the whole map in one line. Yama and niyama are how you live with others and with yourself. Āsana and prāṇāyāma are body and breath. Pratyāhāra draws the senses inward. Dhāraṇā, dhyāna and samādhi are concentration, meditation and absorption. They're called limbs, not steps, because like the limbs of a body they grow together.