SB 9.22.33

tava tātaḥ subhadrāyām
 abhimanyur ajāyata
sarvātirathajid vīra
 uttarāyāṁ tato bhavān
Word for word: 
tava — your; tātaḥ — father; subhadrāyām — in the womb of Subhadrā; abhimanyuḥ — Abhimanyu; ajāyata — was born; sarva-atiratha-jit — a great fighter who could defeat the atirathas; vīraḥ — a great hero; uttarāyām — in the womb of Uttarā; tataḥ — from Abhimanyu; bhavān — your good self.
Translation: 
My dear King Parīkṣit, your father, Abhimanyu, was born from the womb of Subhadrā as the son of Arjuna. He was the conqueror of all atirathas [those who could fight with one thousand charioteers]. From him, by the womb of Uttarā, the daughter of Virāḍrāja, you were born.