Yōga Sūtra 2.29

yamaniyamāsanaprāṇāyāmapratyāhāradhāraṇādhyānasamādhayō'ṣṭāvaṅgāni।

Self-restraint (yama), fixed rules (niyama), posture (āsana), regulation of breath (prānāyāma), withdrawal of senses (pratyahara), wearing the topic (dharana), repeatedly dwelling on the topic (dhyana), equivalence state (samadhi) are the eight limbs.