Pada (55 sutras) Sadhana is the Sanskrit word for "practice" or "discipline". Here the author outlines two forms of Yoga: Kriya Yoga (Action Yoga) and Ashtanga Yoga (Eightfold or Eightlimbed Yoga). Kriya yoga , sometimes called Karma Yoga , is also expounded in Chapter 3 of the Bhagavad Gita , where Arjuna