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SB 10.3.42

tayor vāṁ punar evāham
 adityām āsa kaśyapāt
upendra iti vikhyāto
 vāmanatvāc ca vāmanaḥ
Synonyms: 
tayoḥ — of you two, husband and wife; vām — in both of you; punaḥ eva — even again; aham — I Myself; adityām — in the womb of Aditi; āsa — appeared; kaśyapāt — by the semen of Kaśyapa Muni; upendraḥ — by the name Upendra; iti — thus; vikhyātaḥ — celebrated; vāmanatvāt ca — and because of being a dwarf; vāmanaḥ — I was known as Vāmana.
Translation: 
In the next millennium, I again appeared from the two of you, who appeared as My mother, Aditi, and My father, Kaśyapa. I was known as Upendra, and because of being a dwarf, I was also known as Vāmana.