In the Srimad Bhagavatam, we read about the mysterious history of Jaya and Vijaya, and how these two powerful associates of the Lord in Vaikunta ended up coming to the material world to play the role of demons for three lives, becoming at first Hiranyakashipu and Hiranyaksha, then Ravana and Kumbhakarna, and finally Sisupala and Dantavakra, after which they were finally reinstated in their original positions after being killed by Krsna.
For the ones’ who observed Sisupala being killed by Krsna at the sacrifice of Maharaja Yudhistira, it appeared that Sisupala merged in the Lord’s bodily effulgence, attaining the impersonal Brahmajoti, but in his purports (7.1.20) Prabhupada explains: “Śiśupāla and Dantavakra were formerly Jaya and Vijaya, the doorkeepers of Vaikuṇṭha. Merging into the body of Kṛṣṇa was not their final destination. For some time they remained merged, and later they received the liberations of sārūpya and sālokya, living on the same planet as the Lord in the same bodily form.”
Hiranyakashipu and Hiranyaksha appeared about 400 million years ago, during the reign of Caksusa Manu (the 6th Manu in the sequence, immediately before the current one). Chronologically speaking, this is after the rebirth of Daksa. The history is that the first birth of Daksa happened at the beginning of the current day of Brahma, during the reign of Svayambhuva Manu. In this birth, he offended Lord Shiva and ended up being killed by Virabhadra, and was later revived with the head of a goat. Although he used this body to conclude the sacrifice he was making, he later left this body due to shame (it’s probably not easy to live with the head of a goat). Other pastimes described in the Srimad Bhagavatam, such as the appearance of Lord Kapila and the pastime of Dhruva Maharaja also happened around this time, during the reign of Svayambhuva Manu.
The next birth of Daksa happened only much later, during the reign of Caksusa Manu. During this birth, Daksa married Pāncajanī and begot 10,000 sons with the purpose of increasing the population of the universe. All these sons, however, decided to take Sannyasi after being instructed by Narada Muni. Daksa then begot 1,000 more sons, just for the same thing to happen again. Frustrated, he cursed Narada Muni and begot sixty daughters who were married to great sages and became the mothers of most of the population of the universe.
Seventeen of these daughters were married to Kasyapa Muni, including Diti, who became the mother of Hiranyaksha and Hiranyakashipu.
Here are a few more details about this pastime that you may find interesting:
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