Jeevmoksha Yoga

Dharana, the sixth limb of yoga, is the practice of concentration and focus. In dharana, one learns to focus the mind on a single point or object. This is often done through the use of a mantra, or a sound that is repeated over and over. The seventh limb, dhyana, is the state of meditation that arises when the mind is still and focused. Samadhi, the eighth and final limb, is the state of enlightenment that is achieved when all of the other limbs are fully developed. This is considered to be the ultimate goal of yoga.
https://jeevmokshayoga.com/