Darsana Upanishad

It is one of twenty Yoga Upanishads in the four vedas, and it is attached to the Samaveda. The text presents classical Yoga similar to the Patanjali's Yogasutras-style format in a sequential ascending eight yogic stages, but unlike Yogasutras, the Darshana Upanishad includes kundalini concepts. The ultimate goal of Yoga, states the Upanishad, is self-knowledge and realizing the identity of one's soul (Atman) with the universal reality (Brahman). The text is structured as a discourse by Hindu god Dattatreya to sage Sankriti on Yoga. The text presents a fusion of Hatha Yoga and eight limbed Patanjali Yogasutras methodology, on a foundation of Vedanta and Yoga philosophies.