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Arthashastra

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वल्गनो नीचैर् गतो लङ्घनो घोरणो नारोष्ट्रश् च औपवाह्याः ॥

Circular movement (valgana), slow movement (níchairgata), jumping (langhana), gallop (dhorana), and response to signals (nároshtra) are the several forms of riding (aupaváhya).

english translation

Chapter 30

Verse 33