SB 10.51.39-40

tathāpy adyatanāny aṅga
 śṛnuṣva gadato mama
vijñāpito viriñcena
 purāhaṁ dharma-guptaye
bhūmer bhārāyamāṇānām
 asurāṇāṁ kṣayāya ca
avatīrṇo yadu-kule
 gṛha ānakadundubheḥ
vadanti vāsudeveti
 vasudeva-sutaṁ hi mām
Synonyms: 
tathā api — nevertheless; adyatanāni — those current; aṅga — O friend; śṛṇuṣva — just hear; gadataḥ — who am speaking; mama — from Me; vijñāpitaḥ — sincerely requested; viriñcena — by Lord Brahmā; purā — in the past; aham — I; dharma — religious principles; guptaye — to protect; bhūmeḥ — for the earth; bhārāyamāṇānām — who are a burden; asurāṇām — of the demons; kṣayāya — for the destruction; ca — and; avatīrṇaḥ — descended; yadu — of Yadu; kule — into the dynasty; gṛhe — in the home; ānakadundubheḥ — of Vasudeva; vadanti — people call; vāsudevaḥ iti — by the name Vāsudeva; vasudeva-sutam — the son of Vasudeva; hi — indeed; mām — Me.
Translation: 
Nonetheless, O friend, I will tell you about My current birth, name and activities. Kindly hear. Some time ago, Lord Brahmā requested Me to protect religious principles and destroy the demons who were burdening the earth. Thus I descended in the Yadu dynasty, in the home of Ānakadundubhi. Indeed, because I am the son of Vasudeva, people call Me Vāsudeva.