I started studying Yoga when I was 17 with Patanjali Yoga Sutras in various translations, and then read tons of book on various traditions in Yoga (Hatha, Pranayama, Kundalini, etc). First, I would like to present to you my personal compact version / interpretation of the 8 limbs of Yoga योग.

Yoga Sutras are based on atheistic philosophy Samkhya, an orthodox (Astika) and atheistic Hindu system of dualism.

8 Limbs of Yoga

My Short Version

For bliss: 

• avoid violence, illusion, greed, wastefulness, possessiveness;
• be clean, content, and engaged; study and respect own mind;
• exercise and breathe efficiently; 
• control impulses, abstract, concentrate, and think.

A Longer Version of 8 Limbs of Yoga

External aids to Yoga

Bahiranga Sadhana

1. Yama refers to the five abstentions: outward observances:
   1. Ahimsa: non-violence.
   2. Satya: non-illusion, truth.
   3. Asteya: non-greed.
   4. Brahmacharya: energy conservation.
   5. Aparigraha: non-possessiveness.
2. Niyama - inward observances:
   1. Shaucha: cleanliness.
   2. Santosha: contentment.
   3. Tapas: effort.
   4. Svādhyāya: study.
   5. Ishvarapranidhana: acceptance of the fullness of self.
3. Asana: firm and pleasant postures. A good pose is one that stretches and strengthens simultaneously, in all the ways the body needs, in order to create optimal physical alignment.
4. Pranayama: extended breathing.
5. Pratyahara: withdrawal of senses from external objects.

Internal aids to Yoga

Antaranga Sadhana

1. Dharana: concentration.
2. Dhyana: meditation. 
3. Samādhi समाधि, equilibrium ("samā") of a detached intellect ("dhi"): bliss, realization of unity.