Ahimsa, Satya, Asteya(non-stealing), Bramacharya and Aparigraha (non-greed) - are the five Yamas.

Verse 2.29

यम नियमाअसन प्राणायाम प्रत्याहार धारणा ध्यान समाधयोऽष्टावङ्गानि ॥२९॥

yama niyama-āsana prāṇāyāma pratyāhāra dhāraṇā dhyāna samādhayo-'ṣṭāvaṅgāni ॥29॥

Yama, Niyama, Asana, Pranayama, Pratyahara, Dharana, Dhyana, Samadhi; are the eight limbs of Yoga.

Verse 2.30

अहिंसासत्यास्तेय ब्रह्मचर्यापरिग्रहाः यमाः ॥३०॥

ahiṁsā-satya-asteya brahmacarya-aparigrahāḥ yamāḥ ॥30॥

Ahimsa, Satya, Asteya(non-stealing), Bramacharya and Aparigraha (non-greed) - are the five Yamas.

This sutra sets out the eightfold path of yoga (astanga yoga) , which Patanjali proceeds to describe in detail in the remaining sutras of sadhana pada and in the first three Sutras of vibhuti pada.

Restraints and observances that are bound by tradition and lineage follow uninterruptedly in the practice of yoga.

Although asana, pranayama and pratyahara are separate entities, they depend upon one another for expressing the hidden facets of yoga. 

These stages, which enable the seeker to rise in the art of yoga, are called progressive sadhana. 

Through them we reach

higher and higher. The first five aspects of yoga are individual efforts for the evolution of the consciousness, while dharana, dhyana and samadhi are the natural states of yoga (yoga svarupa).

The principle of yama involves wishing no harm in word, thought or deed; being sincere, truthful and honest; not stealing or misappropriating another's wealth or possessions; chastity; and not accepting gifts or possessing only what one needs, without being greedy.

These rules and restraints are clearly laid down for us to live in the society whilst remaining a yoga practitioner.

PATANJALI YOGA SUTRAS