Srimad Bhagavatam Canto 09, Chapter 21, Text 35

SB 9.21.35

tasya satyadhrtih putro
 dhanur-veda-visaradah
saradvams tat-suto yasmad
 urvasi-darsanat kila
sara-stambe ’patad reto
 mithunam tad abhuc chubham
 
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada: 
 
The son of Satananda was Satyadhrti, who was expert in archery, and the son of Satyadhrti was Saradvan. When Saradvan met Urvasi, he discharged semen, which fell on a clump of sara grass. From this semen were born two all-auspicious babies, one male and the other female.
Srimad Bhagavatam Canto 09, Chapter 21, Text 34
Srimad Bhagavatam Canto 09, Chapter 21, Text 36