श्री भगवानुवाच इमं विवस्वते योगं प्रोक्तवानहमव्ययम्। विवस्वान् मनवे प्राह मनुरिक्ष्वाकवेऽब्रवीत् ॥

imaṁ vivasvate yogaṁ proktavān aham avyayam vivasvān manave prāha manur ikṣhvākave ’bravīt

This imperishable yoga I declared to Vivasvân; Vivasvân taught it to Manu; Manu to Ikshvâku told it.

In plain words: Krishna says he first taught this lasting teaching of yoga to Vivasvan, the sun god. Vivasvan taught it to Manu, the first man, and Manu taught it to King Ikshvaku.