Bhagavad Gita · 4.2

एवं परम्पराप्राप्तमिमं राजर्षयो विदुः।स कालेनेह महता योगो नष्टः परन्तप॥

evaṁ paramparā-prāptam imaṁ rājarṣhayo viduḥ sa kāleneha mahatā yogo naṣhṭaḥ parantapa

This supreme science was thus received through the chain of succession, and the saintly kings understood it in that way. But over the course of time, this yoga was lost, O scorcher of foes.

— Bhagavad Gita 4.2

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