A divinity descending from its usual abode, coming to a certain place, at a certain time, assuming a particular body with some purpose is called an avatara. Lord Vishnu descending from Vaikuntha to Vrindavan during Dwapara Yuga assuming the body of Sri Krishna to establish dharma is a typical avatara.
Pippalada Maharshi. Garbha Upanishad is associated with Krishna Yajurveda.
The monkey who pulled out the wedge
Sri Rudram Explained-Anuvaka 4
Rishi Stuti
bhri'gurvashisht'hah' kraturangiraashcha manuh' pulastyah' pulahashcha gautamah'. raibhyo mareechishchyavanashcha dakshah' kurvantu sarve mama suprabh....
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