It is said that Gheraṇḍa Samhitā was composed in the Seventeenth Century by Sage Gheraṇḍa. Not so much is known regarding his time and place of birth. His system of yoga is called 'Saptāṅga Yoga' i.e. the yoga of seven limbs or parts. We know 'Aṣṭāṅga Yoga' (i.e. the eight limbs of yoga) by Sage Patañjali and 'Ṣaḍāṅga Yoga' (i.e. the six limbs of yoga) by Guru Gorakhanāth. All these systems of yoga with their specific limbs/parts are equally respected and followed in the yogic tradition.

The first aspect of yogic practice described in Gheraṇḍa Samhitā is ṣaṭkarma, the six yogic cleansing practices. Their practice is important to get rid of diseases from the body and purify it properly. The second aspect of yogic practice discussed is the āsana. The importance of āsana practice is that they help create firmness and stability in the body. The third aspect of practice described is the mudrā which is used to control the flow of prāṇa and retain and circulate it within the body. The fourth aspect of practice he talked is pratyāhāra.

According to Sage Gheraṇḍa, when body is purified through ṣaṭkarma, it is made firm and stable by āsana and prāṇa is controlled and retained by mudrā, then one can naturally do the practice of pratyāhāra. The fifth aspect of practice he taught is prānāyāma. In most of the prānāyāma practices he included mantras with them. Practice of pranayama with specific mantras creates direct impact on energy field within the body and mind through the vibrations of the mantras which eventually contribute for the expansion of awareness.

The sixth aspect of discourse in Gheraṇḍa Samhitā is dhyāna. The state of dhyāna arises naturally when the body is pure, firm and stable, prāṇa is controlled and the mind is withdrawn within itself. It describes three types of dhyāna for developing awareness and one-pointedness of the mind. The seventh and final aspect described in Gheraṇḍa Samhitā is samādhi. Its achievement is the final goal of yoga.