BG 4.2
The saintly kings received this science in a continuous succession, until after a long time, it was lost.
स कालेनेह महता योगो नष्टः परन्तप
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evaṁ — thus
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paramparā-prāptam — received in a continuous tradition
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paramparā — in a continuous tradition
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prāptam — received
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imaṁ — this
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rājarṣhayo — saintly kings
rāja-ṛiṣhayaḥ—the saintly kings -
viduḥ — understood
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sa — that
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kāleneha — with the long passage of time
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mahatā — great
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yogo — science of Yoga
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naṣhṭaḥ — lost
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parantapa — Arjuna
means "the scorcher of foes"
Krishna said: I taught this imperishable Yoga to the Sun god Vivasvan; Vivasvan taught it to Manu, the original man; Manu told it to Ikshvaku, the first king. The saintly kings received this science in a continuous succession, until after a long time, it was lost. It is this same ancient Yoga that I am now teaching you, for you are my devotee and my friend. This is the supreme secret.