To clarify the order parameter symmetry of cuprates, the magnetic penetration depth $lambda$ was measured along the crystallographic directions $a$, $b$, and $c$ in single crystals of YBa$_2$Cu$_4$O$_8$ via muon spin rotation. This method is direct, bulk sensitive, and unambiguous. The temperature dependences of $lambda_a^{-2}$ and $lambda_b^{-2}$ exhibit an inflection point at low temperatures as is typical for two-gap superconductivity (TGS) with $s+d-$wave character in the planes. Perpendicular to the planes a pure s-wave gap is observed thereby highlighting the important role of c-axis effects. We conclude that these are generic and universal features in the bulk of cuprates.