The Song Divine (The Bhagavadgītā) Chapter IV The Yoga of Knowledge as well as the disciplines of Action and Knowledge
Śrī Bhagavān said: I revealed this immortal Yoga to Vivasvān; Vivasvān conveyed it to Manu; and Manu imparted it to Ikṣvāku. (1) Thus transmitted in succession from father to son, Arjuna, this Yoga remained known to the Rājarṣis. Through long lapse of time, this Yoga got lost to the world. (2) The same ancient Yoga, which is the supreme secret, has this day been imparted to you by Me, because you are My devotee and friend. (3) Arjuna said: You are of recent origin, while the birth of Vivasvān dates back to remote antiquity. How, then am I to believe that You imparted this Yoga at the beginning of the creation? (4) Śrī Bhagavān said: Arjuna, you and I have passed through many births; I remember them all; you do not remember, O chastiser of foes. (5) Though birth-less and immortal and the Lord of all beings, I manifest Myself through My own Yogamaya, keeping My nature under control. (6) Arjuna, whenever righteousness is on the decline, unrighteousness is in the ascendant, then I body Mys