Maharishi Patanjali has defined Yoga as "the detention of the thoughts of the mind". In Yoga Sutra, he explained in detail the path of Yoga with eight limbs for full wellness and physical, mental and spiritual purification. Ashtang-Yoga is eight dimensional paths:
(Yoga Sutra 29 - यमनियमासनप्राणायामप्रत्याहारधारणाध्यानसमाधयोऽष्टाव अङ्गानि ॥) i.e. Yama, Niyama, Asana, Pranayama, Pratyahara, Dharna, Dhyana and Samadhi are eight limbs of yoga.
The Yama and Niyama are moral trainings; without Pratyâhâra, or restraint of the senses from their objects; Dhâranâ, or fixing the mind on a spot; Dhyâna, or meditation; and Samâdhi, or superconsciousness. The mind can exist on a still higher plane, the superconscious. The three — Dharana, Dhyana, and Samadhi — together, are called Samyama.
Ashtang Yoga impacts Panch Kosh. Yama, Niyama and Asana on Annmya Kosh, Pranayama on Pranamaya Kosh, Dharna & Dhyana on Manomaya Kosh & Vigyanmaya Kosh and Samadhi on Annandamaya Kosh.
Shree Krishna in Bhagavad Gita has explained the concepts of yogic ideals in its chapter 6 & 8 and stressed that one who abandon the body & mind while contemplating the Nirgun Brahma, that man achieves the eternal divine.
Eight limbs of Ashtang yoga and path shown by Shree Krishna are given hereunder: