SB 9.12.3-4

sagaṇas tat-sutas tasmād
 vidhṛtiś cābhavat sutaḥ
tato hiraṇyanābho ’bhūd
 yogācāryas tu jaimineḥ
śiṣyaḥ kauśalya ādhyātmaṁ
 yājñavalkyo ’dhyagād yataḥ
yogaṁ mahodayam ṛṣir
 hṛdaya-granthi-bhedakam
Word for word: 
sagaṇaḥ — Sagaṇa; tat — this (Vajranābha’s); sutaḥ — son; tasmāt — from him; vidhṛtiḥ — Vidhṛti; ca — also; abhavat — was born; sutaḥ — his son; tataḥ — from him; hiraṇyanābhaḥ — Hiraṇyanābha; abhūt — became; yoga-ācāryaḥ — the propounder of the philosophy of yoga; tu — but; jaimineḥ — because of accepting Jaimini as his spiritual master; śiṣyaḥ — disciple; kauśalyaḥ — Kauśalya; ādhyātmam — spiritual; yājñavalkyaḥ — Yājñavalkya; adhyagāt — studied; yataḥ — from him (Hiraṇyanābha); yogam — the mystic performances; mahā-udayam — highly elevated; ṛṣiḥ — Yājñavalkya Ṛṣi; hṛdaya-granthi-bhedakam — mystic yoga, which can loosen the knots of material attachment in the heart.
Translation: 
The son of Vajranābha was Sagaṇa, and his son was Vidhṛti. The son of Vidhṛti was Hiraṇyanābha, who became a disciple of Jaimini and became a great ācārya of mystic yoga. It is from Hiraṇyanābha that the great saint Yājñavalkya learned the highly elevated system of mystic yoga known as ādhyātma-yoga, which can loosen the knots of material attachment in the heart.