First Birth
8. O King! Hear why they were cursed before. In the reign of Svâyambhuva Manu, were born to Urnâ; the wife of Maharsi Marîchi, the six powerful sons, all of a virtuous disposition.
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Second Third Birth
9-11. Once, on an occasion, the Prajâpati Brahmâ, on seeing his daughter, became passionate, and was ready to hold sexual intercourse with her. At this, those six sons laughed at him. Brahmâ cursed them saying “You all go quickly and take your birth in the wombs of the asuras.” Therefore those six sons became the sons of Kâlanemi in their first birth. At their second birth, they became the sons of Hiranyakas’ipu. This second time they had the fear of curse in their minds and therefore were born endowed with knowledge.
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12. In this birth they became peaceful and, collecting all their energies, they began to practise austerities. Brahmâ was pleased at this and asked the Sadgarbha to take boons.
13. Brahmâ said :-- O my sons! I was very angry to you before and cursed you; now I am very much pleased with you; ask boons from me that you all desire.
14-15. Vyâsa said :-- Hearing Brahmâ’s words, they were very glad and becoming very anxious to secure their objects of desire, said :-- O our grandsire! Today thou art pleased unto us; now favour us with our desired boons. That we may be invulnerable to all the Devas, human beings, the big serpents the Gandarbhas, and the Lord of Siddhas, (semi-divine beings supposed to be of great purity and holiness and said to be particularly characterised by eight supernatural faculties called Siddhis).
16. Vyâsa said :-- Brahmâ told them “What you have asked, you would certainly get; O blessed ones! better go now; my words will be found to be literally true. No doubt in this.”
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Fourth Birth
17-19. Granting them boons, Brahmâ went away; they then became very glad. O best of Kurus! Hiranyakas’ipu began to think “My sons now have pleased the Grandsire Brahmâ and are now regardless of me” and got very angry and said :-- You all are become very proud on account of receiving boons; and since you have ceased your good feelings towards me I also henceforth cut off my connection with you. Now better go to Pâtâla; you will be known in this world as Sadgarbha.
20-21. At present you would be always involved in deep sleep and remain in Pâtâla for many years; and when you will be born one after another in the womb of Devakî, then your father Kâlanemi of previous birth will be born as Kamsa; and he would be cruel hearted and surely kill you all, no sooner you be born.
Source
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Fifth Birth
Then Mother Devakī praised Kṛṣṇa and Balarāma, reminding Them how They had retrieved the dead son of Their spiritual master. She said, “Please fulfill my desire in the same way. Please bring back my sons who were killed by Kaṁsa so I may see them once again.” Entreated in this way by Their mother, the two Lords went to the subterranean planet of Sutala, where They approached Bali Mahārāja. King Bali greeted Them respectfully, offering Them seats of honor, worshiping Them and reciting prayers.
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Sixth Birth
Kṛṣṇa and Balarāma then requested Bali to return Devakī’s dead sons. The Lords received the boys from Bali and returned them to Devakī who felt such a surge of affection for them that milk began spontaneously flowing from her breasts. Overjoyed, Devakī fed the children her breastmilk, and by drinking the remnants of milk once drunk by Lord Kṛṣṇa Himself, they regained their original forms as demigods and went back to heaven.
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