SB 9.21.34
mithunam mudgalad bharmyad
divodasah puman abhut
ahalya kanyaka yasyam
satanandas tu gautamat
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
Mudgala, the son of Bharmyasva, had twin children, one male and the other female. The male child was named Divodasa, and the female child was named Ahalya. From the womb of Ahalya by the semen of her husband, Gautama, came a son named Satananda.