Yoga Sūtra Chapter Two verse 30

अहिंसासत्यास्तेय ब्रह्मचर्यापरिग्रहाः यमाः ॥३०॥

ahiṃsā-satya-asteya-brahmacarya-aparigrahāḥ yamāḥ ||30||

Non-harming, truthfulness, non-stealing, conservation
and non-grasping are the restraints.

ahiṃsā - non-harming; less harmingsatya - truthful; honesty; sincere; genuine; actualasteya - not practicing stealing; non-stealing; less stealingbrahmacarya - study of the Veda; the state of an unmarried religious student, a life stage; conservation; state of continence and chastityaparigraha - non-grasping; less grasping; not grasping all around; non-possessiveness; non-covetousnessyama - restraints
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Commentaries and Reflections

Commentary by TKV Desikachar:

Yama – How we relate, how we face the society we are part of.
How we link ourselves to others in speech, action, confidence.