Srimad Bhagavatam Canto 09, Chapter 22, Text 27-28

Text-27-28

SB 9.22.27-28

sapan maithuna-ruddhasya
 pandoh kuntyam maha-rathah
jata dharmanilendrebhyo
 yudhisthira-mukhas trayah
 
nakulah sahadevas ca
 madryam nasatya-dasrayoh
draupadyam pañca pañcabhyah
 putras te pitaro ’bhavan
 
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada: 
 
Pandu was restrained from sexual life because of having been cursed by a sage, and therefore his three sons Yudhisthira, Bhima and Arjuna were begotten through the womb of his wife, Kunti, by Dharmaraja, by the demigod controlling the wind, and by the demigod controlling the rain. Pandu’s second wife, Madri, gave birth to Nakula and Sahadeva, who were begotten by the two Asvini-kumaras. The five brothers, headed by Yudhisthira, begot five sons through the womb of Draupadi. These five sons were your uncles.
Srimad Bhagavatam Canto 09, Chapter 22, Text 26
Srimad Bhagavatam Canto 09, Chapter 22, Text 29