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ahiṃsā-satya-asteya-brahmacarya-aparigrahāḥ yamāḥ

अहिंसासत्यास्तेय ब्रह्मचर्यापरिग्रहाः यमाः

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

ahiṃsā - non-harming; less harming

satya - truthful; honesty; sincere; genuine; actual

asteya - not practicing stealing; non-stealing; less stealing

brahmacarya - continence; conservation; a life stage

aparigraha - non-grasping; less grasping; not grasping all around; non-possessiveness; non-covetousness

yama - restraints

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.