"The Blessed Lord 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 lksvaku." BG 4.1
http://www.krishnapath.org/free-ebooks-audiobooks-of-srila-prabhupada/bhagavad-gita-as-it-is-original-1972-macmillan-edition/
