After the publication of Yatharth Geeta, which is a commentary on "Srimad Bhagavad Gita", the devotees requested the revered Swami Ji to throw light on Patanjali's Yog Darshan too because yog is related with self - realisation. It cannot be perceived on material grounds. The revered Maharaj Shree is a Mahapurush who has passed through all the stages of Yog. The present work is the collection of what Maharaj Shree delivered in his preaching. Patañjali divided his Yoga Sutras into four chapters or books (Sanskrit pada), containing in all 196 aphorisms, divided as follows: Samadhi Pada (51 sutras). Samadhi refers to a blissful state where the yogi is absorbed into the One. Samadhi is the main technique the yogin learns by which to dive into the depths of the mind to achieve Kaivalya. The author describes yoga and then the nature and the means to attaining samādhi. This chapter contains the famous definitional verse: "Yogaś citta-vritti-nirodhaḥ" ("Yoga is the restraint of mental modifications").] Sadhana 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 is closely related to Karma Yoga, which is also expounded in Chapter 3 of the Bhagavad Gita, where Arjuna is encouraged by Krishna to act without attachment to the results or fruit of action and activity. It is the yoga of selfless action and service. Aṣṭāṅga Yoga describes the eight limbs that together constitute Rāja Yoga. Vibhuti Pada (56 sutras). Vibhuti is the Sanskrit word for "power" or "manifestation". 'Supra-normal powers' (Sanskrit: siddhi) are acquired by the practice of yoga. Combined simultaneous practice of Dhāraṇā, Dhyana and Samādhi is referred to as Samyama, and is considered a tool of achieving various perfections, or Siddhis. The temptation of these powers should be avoided and the attention should be fixed only on liberation. The purpose of using samadhi is not to gain siddhis but to achieve Kaivalya. Siddhis are but distractions from Kaivalaya and are to be discouraged. Siddhis are but maya, or illusion. Kaivalya Pada (34 sutras). Kaivalya literally means "isolation", but as used in the Sutras stands for emancipation or liberation and is used interchangeably with moksha (liberation), which is the goal of yoga. The Kaivalya Pada describes the process of liberation and the reality of the transcendental ego. By going through this commentary one can understand what Yog is but the real perception of Yog is possible only after practical pursuit of Yogic - Sadhana. With Tap, Swadhyaya, Ishwar - Pranidhan and chanting of Om, the real Sadhana starts. By their practice, the Avidhya and Kleshas got removed and the self starts transmitting beneficial vistas. In their light alone the Yogic - maxims written by Maharishi Patanjali can be truly comprehended. Yog is direct perception, no oral or written words can explain it. Practical pursuits alone can make the comprehension of Yog - Darshan possible.