Ashtanga-Eight limbs
Yamas
Ahimsa-Nonviolence
Satya-Truthfulness
Asteya-Non-Stealing
Brahmacharya-Continence/Abstinence
Aparigraha-Non-Grasping
Niyamas
Sauca-Cleanliness
Santosha-Contentment
Tapas-Fire/Intensity/Self-Discipline
Svadyaya-Self-Study
Isvara pranidhana-Surrender to the Highest
Limbs Three to Five
Asana (in Sense of sthira, sukham Asana=steady, easy seat)
Pranayama
Pratyahara- Withdrawal of the senses
Limbs Six to Eight
Dharana-Concentration, Focus
Dhyana-Meditation
Samadhi-Absorption/Bliss/Nirvana