The Lord appeared as the son of Sudevī, the wife of King Nābhi, and was known as Ṛṣabhadeva. He performed materialistic yoga to equibalance the mind. This stage is also accepted as the highest perfectional situation of liberation, wherein one is situated in one’s self and is completely satisfied.
Srimad Bhagavata Purana
श्रीमद्भागवतमहापुराणम्
मूल श्लोकः
नाभेरसावृषभ आस सुदेविसूनु- र्यो वै चचार समदृग्जडयोगचर्याम् । यत्पारमहंस्यमृषयः पदमामनन्ति स्वस्थः प्रशान्तकरणः परिमुक्तसङ्गः
nābherasāvṛṣabha āsa sudevisūnu- ryo vai cacāra samadṛgjaḍayogacaryām | yatpāramahaṃsyamṛṣayaḥ padamāmananti svasthaḥ praśāntakaraṇaḥ parimuktasaṅgaḥ
SB 2.7.10