Thus received through the lineage, the royal sages (rājarṣayaḥ) knew this; But by the great passage of time here, this discipline (yoga) was lost, O Scorcher of foes (Parantapa).
Royal sages knew this discipline, which the tradition handed down; but over the course of time it has decayed, Arjuna.
(2) Thus was the tradition from one to smother handed on, the royal seers came to know it; [but] in the long course of time this mode of life here was lost.
4.2 The king-sages knew this (yoga) which was received thus in regular succession. That Yoga, O destroyer of foes, in now lost owing to a long lapse of time.
4.2 Thus handed down in succession, the royal sages knew this (Karma Yoga). But with long lapse of time, O Arjuna, that Yoga was lost to the world.
4.2 This, handed down thus in regular succession, the royal sages knew. This Yoga, by long lapse of time, has been lost here, O Paraṃtapa (burner of the foes).