imaḿ vivasvate yogaḿ
proktavān aham avyayam
vivasvān manave prāha
manur ikṣvākave ‘bravīt
Translation of Bhagavad Gita 4.1
The Personality of Godhead, Lord Sri Krishna, said: I instructed this imperishable science of yoga to the sun-god, Vivasvan, and Vivasvan instructed it to Manu, the father of mankind, and Manu in turn instructed it to Ikshavaku.