Bhagavad Gita · 13.5

ऋषिभिर्बहुधा गीतं छन्दोभिर्विविधैः पृथक्।ब्रह्मसूत्रपदैश्चैव हेतुमद्भिर्विनिश्चितैः॥

ṛṣhibhir bahudhā gītaṁ chhandobhir vividhaiḥ pṛthak brahma-sūtra-padaiśh chaiva hetumadbhir viniśhchitaiḥ

This has been sung by the sages in many ways, in various Vedic hymns distinctly, and in the well-reasoned and conclusive aphorisms of the Brahma Sutras.

— Bhagavad Gita 13.5

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