The Yoga Sūtras unfold as a single sustained argument: the blissful Self is already attained — all that is required is to lose interest in what is not the Self. Everything essential is stated in the first three sūtras; the remaining 193 elaborate for the student who does not get it the first time.
Definition.1.1–1.4 Yoga is the stilling of the mind's modifications; then the Seer abides in its own nature. Otherwise, the Self identifies with the vṛttis.
Diagnosis of the mind.1.5–1.11 Five kinds of vṛttis — valid knowledge, error, imagination, sleep, memory — each breeding saṁskāras.
The twin method.1.12–1.16 Abhyāsa (long, devoted practice) and vairāgya (dispassion), culminating in supreme dispassion born of knowing Puruṣa.
Map of samādhi.1.17–1.22 Cognitive absorption (vitarka → vicāra → ānanda → asmitā), then objectless absorption where only burnt seeds remain.
The devotional door.1.23–1.29 Or simply surrender to Īśvara — the special Puruṣa, the timeless Guru, designated by OM, evoked by japa.
Obstacles & remedies.1.30–1.40 Nine distractions and their companions; countered by one-pointed practice, the brahmavihāras, prāṇāyāma, or any elevating focus.
Refinement to the seedless.1.41–1.51 The crystal-mind fuses with its object (samāpatti); memory purifies; truth-bearing wisdom dawns; even that is restrained — nirbīja samādhi.
Practice for the rest of us.2.1–2.16 Kriyā-yoga (tapas, svādhyāya, praṇidhāna) attenuates the five kleśas rooted in avidyā; karma is traced to them; future suffering is avoidable.
Seer & seen.2.17–2.27 Suffering is the confusion of witness with world. The seen exists for the Seer's experience and liberation; unwavering viveka-khyāti is the means of release, unfolding in seven stages.
The eight limbs.2.28–3.8 Yama and niyama purify conduct; āsana stills the body; prāṇāyāma reveals the stillpoint; pratyāhāra withdraws the senses; dhāraṇā, dhyāna and samādhi converge as saṁyama.
Powers — and the warning.3.9–3.56 Saṁyama applied anywhere yields siddhis; they are attainments to the outward mind but obstacles to samādhi. Non-attachment even to omniscience opens kaivalya.
Liberation.4.1–4.34 Mind is a created instrument existing for Another; time is a construct; karma ends when doership ends. Dharma-megha samādhi rains virtue; the guṇas resolve into their source; consciousness stands established in its own nature.
Two practices thread the whole text: vairāgya — welcoming whatever comes and releasing whatever leaves — and viveka — discriminating the mind from the watcher of the mind. Book IV is simply the story of their final outcome.