Srimad-Bhagavatam: Canto 3 - Chapter 1 - Verse 26
Sanskrit:
एष दैनन्दिन: सर्गो ब्राह्मस्त्रैलोक्यवर्तन: ।तिर्यङ्नृपितृदेवानां सम्भवो यत्र कर्मभि: ॥ २६ ॥
ITRANS:
eṣa dainan-dinaḥ sargobrāhmas trailokya-vartanaḥtiryaṅ-nṛ-pitṛ-devānāṁsambhavo yatra karmabhiḥ
Translation:
In the creation, during Brahmā’s day, the three planetary systems — Svarga, Martya and Pātāla — revolve, and the inhabitants, including the lower animals, human beings, demigods and Pitās, appear and disappear in terms of their fruitive activities.