Srimad Bhagavatam Canto 10, Chapter 03, Text 42

SB 10.3.42

tayor vam punar evaham
 adityam asa kasyapat
upendra iti vikhyato
 vamanatvac ca vamanah
 
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada: 
 
In the next millennium, I again appeared from the two of you, who appeared as My mother, Aditi, and My father, Kasyapa. I was known as Upendra, and because of being a dwarf, I was also known as Vamana.
Srimad Bhagavatam Canto 10, Chapter 03, Text 41
Srimad Bhagavatam Canto 10, Chapter 03, Text 43