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SB 11.13.15

śrī-uddhava uvāca
yadā tvaṁ sanakādibhyo
 yena rūpeṇa keśava
yogam ādiṣṭavān etad
 rūpam icchāmi veditum
śrī-uddhavaḥ uvāca — Śrī Uddhava said; yadā — when; tvam — You; sanaka-ādibhyaḥ — to Sanaka, etc; yena — by which; rūpeṇa — form; keśava — my dear Keśava; yogam — the process of fixing the mind in the Absolute Truth; ādiṣṭavān — You have instructed; etat — that; rūpam — form; icchāmi — I desire; veditum — to know.
Śrī Uddhava said: My dear Keśava, at what time and in what form did You instruct the science of yoga to Sanaka and his brothers? I now desire to know about these things.