SB 10.85.20
suti-grhe nanu jagada bhavan ajo nau
sañjajña ity anu-yugam nija-dharma-guptyai
nana-tanur gagana-vad vidadhaj jahasi
ko veda bhumna uru-gaya vibhuti-mayam
Translation:
Indeed, while still in the maternity room You told us that You, the unborn Lord, had already been born several times as our son in previous ages. After manifesting each of these transcendental bodies to protect Your own principles of religion, You then made them unmanifest, thus appearing and disappearing like a cloud. O supremely glorified, all-pervading Lord, who can understand the mystic, deluding potency of Your opulent expansions?
Purport:
Lord Krsna was first born to Vasudeva and Devaki in their previous lives as Sutapa and Prsni. Later they again became His parents as Kasyapa and Aditi. This, then, was the third time He had appeared as their son.