SB 10.3.47

tataś ca śaurir bhagavat-pracoditaḥ
 sutaṁ samādāya sa sūtikā-gṛhāt
yadā bahir gantum iyeṣa tarhy ajā
 yā yoga-māyājani nanda-jāyayā
tataḥ — thereafter; ca — indeed; śauriḥ — Vasudeva; bhagavat-pracoditaḥ — being instructed by the Supreme Personality of Godhead; sutam — his son; samādāya — carrying very carefully; saḥ — he; sūtikā-gṛhāt — from the maternity room; yadā — when; bahiḥ gantum — to go outside; iyeṣa — desired; tarhi — exactly at that time; ajā — the transcendental energy, who also never takes birth; — who; yoga-māyā — is known as Yoga-māyā; ajani — took birth; nanda-jāyayā — from the wife of Nanda Mahārāja.
Thereafter, exactly when Vasudeva, being inspired by the Supreme Personality of Godhead, was about to take the newborn child from the delivery room, Yoga-māyā, the Lord’s spiritual energy, took birth as the daughter of the wife of Mahārāja Nanda.

Śrīla Viśvanātha Cakravartī Ṭhākura discusses that Kṛṣṇa appeared simultaneously as the son of Devakī and as the son of Yaśodā, along with the spiritual energy Yoga-māyā. As the son of Devakī, He first appeared as Viṣṇu, and because Vasudeva was not in the position of pure affection for Kṛṣṇa, Vasudeva worshiped his son as Lord Viṣṇu. Yaśodā, however, pleased her son Kṛṣṇa without understanding His Godhood. This is the difference between Kṛṣṇa as the son of Yaśodā and as the son of Devakī. This is explained by Viśvanātha Cakravartī on the authority of Hari-vaṁśa.