Which Veda mentions About the elements of yoga?

Which Veda mentions About the elements of yoga. The name “8 Limbs” comes from the Sanskrit term Ashtanga and refers to the eight limbs of yoga: Yama (attitudes toward our environment), Niyama (attitudes toward ourselves), Asana (physical postures), Pranayama (restraint or expansion of the breath), Pratyahara (withdrawal of the senses).

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