śrī-uddhavaḥ uvāca - Śrī Uddhava said; yadā - when; tvam - You; sanaka-ādibhyaḥ - to Sanaka, etc.; yena - by which; rūpeṇa - form; keśava - my dear Keśava; yogam - the process of fixing the mind in the Absolute Truth; ādiṣṭavān - You have instructed; etat - that; rūpam - form; icchāmi - I desire; veditum - to know.

Śrī Uddhava said: My dear Keśava, at what time and in what form did You instruct the science of yoga to Sanaka and his brothers? I now desire to know about these things.