Srimad Bhagavatam Canto 09, Chapter 22, Text 33

SB 9.22.33

tava tatah subhadrayam
 abhimanyur ajayata
sarvatirathajid vira
 uttarayam tato bhavan
 
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada: 
 
My dear King Pariksit, your father, Abhimanyu, was born from the womb of Subhadra as the son of Arjuna. He was the conqueror of all atirathas [those who could fight with one thousand charioteers]. From him, by the womb of Uttara, the daughter of Viradraja, you were born.
Srimad Bhagavatam Canto 09, Chapter 22, Text 32
Srimad Bhagavatam Canto 09, Chapter 22, Text 34