Bhagavad Gita · 4.1

श्रीभगवानुवाचइमं विवस्वते योगं प्रोक्तवानहमव्ययम्।विवस्वान्मनवे प्राह मनुरिक्ष्वाकवेऽब्रवीत्॥

śhrī bhagavān uvācha imaṁ vivasvate yogaṁ proktavān aham avyayam vivasvān manave prāha manur ikṣhvākave 'bravīt

The Supreme Lord said: I taught this imperishable science of yoga to Vivasvan (the sun-god); Vivasvan taught it to Manu (the father of humanity); and Manu taught it to Ikshvaku (the first king).

— Bhagavad Gita 4.1

Source: Sacred-Texts.com (Sanskrit) + Bhagavad-Gita.io (translations)