Pratyahara, the fifth limb of yoga, is withdrawal and emancipation of the mind from the domination of the senses and sensual objects
My teacher describes pratyahara like this: Imagine you are reading and the phone rings. Practicing pratyahara you would acknowledge that the phone is ringing but you would not be distracted by it.
The sixth limb of yoga is Dharana meaning concentration or complete attention
Now that we are free from external distractions (pratyahara) we learn to concentrate on a single object, idea, or sound.
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