jaigīṣavyopadeśena
yoga-tantraá¹ cakÄra ha
udaksenas tatas tasmÄd
bhallÄá¹o bÄrhadÄ«á¹£avÄḥ
jaigÄ«á¹£avya - of the great ṛṣi named JaigÄ«á¹£avya; upadeÅ›ena - by the instruction; yoga-tantram - an elaborate description of the mystic yoga system; cakÄra - compiled; ha - in the past; udaksenaḥ - Udaksena; tataḥ - from him (Viá¹£vaksena); tasmÄt - from him (Udaksena); bhallÄá¹aḥ - a son named BhallÄá¹a; bÄrhadÄ«á¹£avÄḥ - (all of these are known as) descendants of Bá¹›hadiá¹£u.