Yoga Cūḍāmaṇi Upaniṣad belongs to Samaveda tradition. It is an invaluable yogic text for a sincere and dedicated yoga practitioner. A complete guideline is presented in it for gaining spiritual wisdom through yoga sādhanā (spiritual practice).
In the beginning, the text describes the six limbs of yoga that are āsana, prāṇāyāma, pratyāhāra, dhāraṇā, dhyāna and Samādhi. With the objective of attaining perfection in yoga, it describes various topics directly related to the theory and practice of yoga. The main topics described in this text are essential knowledge of the body elements, knowledge of the six cakras (energy centers), sixteen ādhāras (foundations), three lakṣyas (aims), visualization of light at yonisthāna, prānic channels, location of prānic channels, circulation of vital energy in the prānic pathways and their functions, momentum of jīva (embodied self) along with prāṇa.
The text further explains the exploration of ajapā gāyatri, penetration of the door to liberation by kuṇḍalini, the three bandhas, khecari mudrā, sign of vajroli, nature of mahāmudrā, process of the praṇava japa, oneness of praṇava and Brahma, meaning of the praṇava and its syllables, practice of the turiya oṅkāra, praṇava and haṃsa sādhanā and pranava japa for self-realization.

Finally, the text discusses the victory over prāna, praṇava mantra sādhanā, perfection in prāṇāyāma by the purification of the nādis (prāṇic channels/pathways), the specific result of perfection and harmony from each limb of yoga, and the expression of nāda (the spontaneous unstruck sound) through the practice of saṇmukhi mudrā, practice of prāṇāyāma, practice of controlling prāṇa, prāṇa the destroyer of all diseases, and withdrawing of senses from their respective sense-objects.