It does not deal explicitly with the various forms of yoga and their methods and objectives because that's in another summary also at this website. Bulleted items in italics are my phrasing of the ancient teachings. Non-italic items in parentheses are my commentaries on them. They emphasize some ideas and teaching that are different from some of those emphasized in the West, and we can learn what we can for them. For every real yogi and spiritual aspirant in India there are a thousand others living their ordinary lives, placing flowers at altars, and grasping very little of the real teachings.
Psychological development involves learning to let go of such desires.
We are attached to many things. Some cause us grief when they're torn from our grasp, while others cause us grief through the process of attachment itself. Some attachments are natural, such as those to family, and places where we've lived for a long time. Some help us survive, such as attachments to traffic safety rules. But most of us cause ourselves needless suffering through attachment to things, people, and ideas that we have no choice to let go of, or would be better off letting go of.