Srimad-Bhagavatam: Canto 9 - Chapter 1 - Verse 3-4
सगणस्तत्सुतस्तस्माद् विधृतिश्चाभवत् सुत: ।ततो हिरण्यनाभोऽभूद् योगाचार्यस्तु जैमिने: ॥ ३ ॥शिष्य: कौशल्य आध्यात्मं याज्ञवल्क्योऽध्यगाद् यत: ।योगं महोदयम् ऋषिर्हृदयग्रन्थिभेदकम् ॥ ४ ॥
sagaṇas tat-sutas tasmādvidhṛtiś cābhavat sutaḥtato hiraṇyanābho ’bhūdyogācāryas tu jaimineḥ
The son of Vajranābha was Sagaṇa, and his son was Vidhṛti. The son of Vidhṛti was Hiraṇyanābha, who became a disciple of Jaimini and became a great ācārya of mystic yoga. It is from Hiraṇyanābha that the great saint Yājñavalkya learned the highly elevated system of mystic yoga known as ādhyātma-yoga, which can loosen the knots of material attachment in the heart.