According to Bhāgavatapurāṇa (Bhagavatapurana), Ūrdhvaga (Urdhvaga) is one of the sons born of the womb of Mādrī (Madri) or Lakṣaṇā (Lakshana), sired by Kṛṣṇa-Vāsudeva (Krishna-Vasudeva).

Bhāgavatpurāṇa Vols. 1-12(10.61.15)