The Yoga Sutra, dating from about the third century A.D., distills the essentials of a complex system of physical and spiritual discipline into not quite two hundred brief aphorisms. Yoga is at the heart of all meditative practice in Asia, yet until now there has been no first-rate English version of this primary text. Barbara Stoler Miller's translation admirably fills that gap - her clear, strong style and sensitive phrasing convey every nuance of Patanjali's words, and her commentary offers invaluable guidance to anyone seeking to understand how yoga describes our relation to the world.