瑜伽論記 3.169

3.169

於過去世覺緣性已等相續起者，初證菩提時，覺悟緣性已後，為有情發起語言說之，故名緣起。自利稱緣利他名起，即是法輪展轉說義。

Regarding "having awakened to conditionality in the past... arising in continuation": when first realizing bodhi, after awakening to conditionality, one gives rise to speech to expound it for sentient beings; hence it is called dependent origination. Benefiting oneself is termed "condition" and benefiting others is termed "arising"; this is the meaning of rolling the wheel of Dharma in exposition.