Samkhya gives you the Worldview/Model and Patanjala Ashtanga Yoga gives you a practical framework/discipline to implement it. Here is a older comment of mine which you might find useful - https://news.ycombinator.com/item?id=41538322

Also see the classic Yoga and Western Psychology: A Comparison by Geraldine Coster - https://archive.org/details/in.ernet.dli.2015.189086/page/n1...