SB 9.21.26
jaigisavyopadesena
yoga-tantram cakara ha
udaksenas tatas tasmad
bhallato barhadisavah
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
Following the instructions of the great sage Jaigisavya, Visvaksena compiled an elaborate description of the mystic yoga system. From Visvaksena, Udaksena was born, and from Udaksena, Bhallata. All these sons are known as descendants of Brhadisu.