Composed by the famous Indian sage sometime between the first and third centuries CE, The Yoga Sutras of Patanjali sets forth the practical and philosophical foundations of Raja Yoga. These aphorisms clearly mark out the path to Self-Realization, and their influence has been profound throughout the millennia. They are still regularly used today by those interested in the Yogic approach to self-knowledge and are open to anyone of any religion. The Sutras are presented here in a free form translation, with an insightful running commentary that makes them easily understandable to the modern reader and yoga practitioner.