Shrimad Bhagwat Geeta Chapter 4 shlok 2
O vanquisher of foes, the noble kings received this sacred science of Yoga through an unbroken lineage. However, over the course of time, it became lost to the world. Description In the transmission of divine knowledge, disciples grasp the science of God-realization from their Guru, who in turn received it from their Guru. This lineage …