This book offers an accessible and lively look at yoga philosophy and psychology. Following the model of the eight limbs of yoga the authors engage the tradition from its foundational ethics to the highest states of consciousness. Based on 30 years of research and practice, it connects the insights of this ancient tradition to our lives and the challenges facing us today. This work will appeal to a broad audience including scholars, yoga teachers and practitioners. and general readers who have an interest in philosophy, meditation and psychology.