Not that big on chanting myself ( although there are a few I like to chant from Manju and Ramaswami, including the pranayama chant) but I always loved how Ramaswami chanted this at the beginning of class. I chant them at the beginning of my own workshops, I guess I think Ramaswami would appreciate it but mostly because I can always hear him when I do and it makes me smile.
In case you'd like to learn it yourself, here's Ramaswami's tutorial and a chant sheet.
See also perhaps this old post, I've added the class video.
Ashtanga Pranayama and Meditation, Chanting from Manju (also Sharath) and my favourite chant from Ramaswami.
Also this on Ramaswami's tutorial on chanting the Yoga Sutras
Chanting Yoga Sutras