Satyavati - Grandmother of Dhritarashtra, and Pandu. She was an incarnation on earth of a divine being called Acchoda.
Parashar - Grandson of Sage Vasishta. He was himself an accomplished Maharshi.
Sage Parashar knew that he was to father an incarnation of Lord Vishnu on earth. The mother would be the daughter of King Vasu (Uparichara) but brought up among the fishermen.
Satyavati used to ferry people across the river Yamuna. During a pilgrimage, Parashar saw Satyavati on the banks of Yamuna. He immediately realized that she was the one blessed to become the mother of the Lord’s incarnation. Sage convinced Satyavati to unite with him. Their union happened in the ferrying boat in the middle of the river.
Satyavati delivered a baby boy immediately after that on an island in the middle of the river. The boy instantly grew up into an adult. He became famous as Krishna Dvaipayana Vyasa, the author of the Puranas, and Mahabharata.
With the blessings of Sage Parashar, Satyavti remained a virgin and later married King Shantanu. The Sage also blessed her with a fragrant body. Satyavati earlier had the smell of fish and was called Matsyagandha.
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Glory of Venkatesha
Story of Sri Yantra