वैवस्वतेऽन्तरे सम्यक् प्रोक्ता हि परमात्मना ।। योगेश्वरावताराश्च सर्वावर्तेषु सुव्रताः।। ५१।।
In the Vaivasvata manvantara, during all its recurring aeons, the Yogeśvara incarnations of the great Ātman of virtuous deeds have been explained to you.
व्यासाश्चैवाष्टविंशत्का द्वापरेद्वापरे विभो।। योगेश्वरावतारश्च प्रारंभे च कलौ कलौ ।। ५२।।
O great lord, the Vyāsas in every recurring Dvāpara are twenty-eight in number. The Yogeśvara incarnations at the beginning of every recurring Kali age are also so many.
In each of the incarnations of Yogeśvara, there are four disciples who make the path of Yoga flourish and who are eternal as well as great devotees of Śiva.
These disciples of Śiva smear their bodies with holy ashes, use the necklaces of Rudrākṣa beads as their ornaments and mark their foreheads with Tripuṇḍra.