|Canto 9: Liberation||Chapter 22: The Descendants of Ajamīḍha|
Bhaktivedanta VedaBase: Śrīmad Bhāgavatam 9.22.20
rāmo 'pi yudhi toṣitaḥ
jajñe citrāńgadaḥ sutaḥ
vīra-yūtha-agraṇīḥ — Bhīṣmadeva, the foremost of all warriors; yena — by whom; rāmaḥ api — even Paraśurāma, the incarnation of God; yudhi — in a fight; toṣitaḥ — was satisfied (when defeated by Bhīṣmadeva); śāntanoḥ — by Śāntanu; dāsa-kanyāyām — in the womb of Satyavatī, who was known as the daughter of a śūdra; jajñe — was born; citrāńgadaḥ — Citrāńgada; sutaḥ — a son.
Bhīṣmadeva was the foremost of all warriors. When he defeated Lord Paraśurāma in a fight, Lord Paraśurāma was very satisfied with him. By the semen of Śāntanu in the womb of Satyavatī, the daughter of a fisherman, Citrāńgada took birth.
Satyavatī was actually the daughter of Uparicara Vasu by the womb of a fisherwoman known as Matsyagarbhā. Later, Satyavatī was raised by a fisherman.
The fight between Paraśurāma and Bhīṣmadeva concerns three daughters of Kāśīrāja — Ambikā, Ambālikā and Ambā — who were forcibly abducted by Bhīṣmadeva, acting on behalf of his brother Vicitravīrya. Ambā thought that Bhīṣmadeva would marry her and became attached to him, but Bhīṣmadeva refused to marry her, for he had taken the vow of brahmacarya. Ambā therefore approached Bhīṣmadeva's military spiritual master, Paraśurāma, who instructed Bhīṣma to marry her. Bhīṣmadeva refused, and therefore Paraśurāma fought with him to force him to accept the marriage. But Paraśurāma was defeated, and he was pleased with Bhīṣma.
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His Divine Grace A. C. Bhaktivedanta Swami Prabhupāda, Founder Ācārya of the International Society for Krishna Consciousness