Gheranda Samhita
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It is said that Gheraṇḍa Samhitā was composed in the Seventeenth Century by Sage Gheraṇḍa. Not so much is known regarding his time and place of birth. His system of yoga is called 'Saptāṅga Yoga' i.e. the yoga of seven limbs or parts. We know 'Aṣṭāṅga Yoga' (i.e. the eight limbs of yoga) by Sage Patañjali and 'Ṣaḍāṅga Yoga' (i.e. the six limbs of yoga) by Guru Gorakhanāth. All these systems of yoga with their specific limbs/parts are equally respected and followed in the yogic tradition.
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