SB 3.11.26
esa dainan-dinah sargo
brahmas trailokya-vartanah
tiryan-nr-pitr-devanam
sambhavo yatra karmabhih
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
In the creation, during Brahma’s day, the three planetary systems — Svarga, Martya and Patala — revolve, and the inhabitants, including the lower animals, human beings, demigods and Pitas, appear and disappear in terms of their fruitive activities.