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Study a single sutra by selecting the pada (chapter) and then the sutra (verse).

Sutra 2:39

Source: Sanskrit transliteration from The Yoga Sutras of Patanjali (Sri Swami Satchidananda)
APARIGRAHA STHAIRYE JANMAKATHAMTA SAMBODHAH.

Source: English translation from The Yoga Sutras of Patanjali (Sri Swami Satchidananda)
When non-greed is confirmed, a thorough illumination of the how and why of one's birth comes.

Source: Sanskrit transliteration from Light on the Yoga Sutras of Patanjali (B.K.S. Iyengar)
aparigrahasthairye janmakathamta sambodhah

Source: English translation from Light on the Yoga Sutras of Patanjali (B.K.S. Iyengar)
Knowledge of past and future lives unfolds when one is free from greed for possessions.

Source: How to Know God: The Yoga Aphorisms of Patanjali (Swami Prabhavananda, Christopher Isherwood)
When a man becomes steadfast in his abstention from greed, he gains knowledge of his past, present and future existences.

Source: English translation from The Heart of Yoga (T.K.V. Desikachar)
One who is not greedy is secure. He has time to think deeply. His understanding of himself is complete.

Source: Sanskrit transliteration of the Yoga Sutras of Patanjali (Swami Jnaneshvara Bharati)
aparigraha sthairye janma kathanta sambodhah

Source: English translation of the Yoga Sutras of Patanjali (Swami Jnaneshvara Bharati)
When one is steadfast in non-possessiveness or non-grasping with the senses (aparigraha), there arises knowledge of the why and wherefore of past and future incarnations.