Bhagavatapurana 9.12.4

9.12.4

śiṣyaḥ kauśalya ādhyātmaṃ yājñavalkyo 'dhyagādyataḥ /
yogaṃ mahodayamṛṣirhṛdayagranthibhedakam //

3. & 4. Vajranabha's son was Khagana and his son Vidhriti; of this last was born Hiranyanabha who became a pupil of Jaimani and the teacher of Yoga system, from whom the sage Kausalya Yagnavalkya received instruction in Yoga relating to Atman, which is the way to attaining great powers and having the knot of the heart cut off.