SB 9.22.33
tava tatah subhadrayam
abhimanyur ajayata
sarvatirathajid vira
uttarayam tato bhavan
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
My dear King Pariksit, your father, Abhimanyu, was born from the womb of Subhadra as the son of Arjuna. He was the conqueror of all atirathas [those who could fight with one thousand charioteers]. From him, by the womb of Uttara, the daughter of Viradraja, you were born.