The Compendium of Caraka 4.7.5

4.7.5

tatraayaṃ śarīrasyāṅgavibhāgaḥ;tadyathā ---dvau bāhū,dve sakthinī,śirogrīvam,antarāadhiḥ,iti ṣaḍaṅgamaṅgam //

Therein, this is the division of the body's limbs: two arms, two thighs, head-and-neck, and the trunk—thus the body is six-limbed.”