SB 9.21.31-33

śānteḥ suśāntis tat-putraḥ
 purujo ’rkas tato ’bhavat
bharmyāśvas tanayas tasya
 pañcāsan mudgalādayaḥ
yavīnaro bṛhadviśvaḥ
 kāmpillaḥ sañjayaḥ sutāḥ
bharmyāśvaḥ prāha putrā me
 pañcānāṁ rakṣaṇāya hi
viṣayāṇām alam ime
 iti pañcāla-saṁjñitāḥ
mudgalād brahma-nirvṛttaṁ
 gotraṁ maudgalya-saṁjñitam
Synonyms: 
śānteḥ — of Śānti; suśāntiḥ — Suśānti; tat-putraḥ — his son; purujaḥ — Puruja; arkaḥ — Arka; tataḥ — from him; abhavat — generated; bharmyāśvaḥ — Bharmyāśva; tanayaḥ — son; tasya — of him; pañca — five sons; āsan — were; mudgala-ādayaḥ — headed by Mudgala; yavīnaraḥ — Yavīnara; bṛhadviśvaḥ — Bṛhadviśva; kāmpillaḥ — Kāmpilla; sañjayaḥ — Sañjaya; sutāḥ — sons; bharmyāśvaḥ — Bharmyāśva; prāha — said; putrāḥ — sons; me — my; pañcānām — of five; rakṣaṇāya — for protection; hi — indeed; viṣayāṇām — of different states; alam — competent; ime — all of them; iti — thus; pañcāla — Pañcāla; saṁjñitāḥ — designated; mudgalāt — from Mudgala; brahma-nirvṛttam — consisting of brāhmaṇas; gotram — a dynasty; maudgalya — Maudgalya; saṁjñitam — so designated.
Translation: 
The son of Śānti was Suśānti, the son of Suśānti was Puruja, and the son of Puruja was Arka. From Arka came Bharmyāśva, and from Bharmyāśva came five sons — Mudgala, Yavīnara, Bṛhadviśva, Kāmpilla and Sañjaya. Bharmyāśva prayed to his sons, “O my sons, please take charge of my five states, for you are quite competent to do so.” Thus his five sons were known as the Pañcālas. From Mudgala came a dynasty of brāhmaṇas known as Maudgalya.