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SB 9.13.6

ity utsasarja svaṁ dehaṁ
 nimir adhyātma-kovidaḥ
mitrā-varuṇayor jajñe
 urvaśyāṁ prapitāmahaḥ
Synonyms: 
iti — thus; utsasarja — gave up; svam — his own; deham — body; nimiḥ — Mahārāja Nimi; adhyātma-kovidaḥ — fully conversant with spiritual knowledge; mitrā-varuṇayoḥ — from the semen of Mitra and Varuṇa (discharged from seeing the beauty of Urvaśī); jajñe — was born; urvaśyām — through Urvaśī, a prostitute of the heavenly kingdom; prapitāmahaḥ — Vasiṣṭha, who was known as the great-grandfather.
Translation: 
After saying this, Mahārāja Nimi, who was expert in the science of spiritual knowledge, gave up his body. Vasiṣṭha, the great-grandfather, gave up his body also, but through the semen discharged by Mitra and Varuṇa when they saw Urvaśī, he was born again.
Purport: 

Mitra and Varuṇa chanced to meet Urvaśī, the most beautiful prostitute of the heavenly kingdom, and they became lusty. Because they were great saints, they tried to control their lust, but they could not do so, and thus they discharged semen. This semen was kept carefully in a waterpot, and Vasiṣṭha was born from it.