Yoga Sūtra Chapter Two verse 39

अपरिग्रहस्थैर्ये जन्मकथंता संबोधः ॥३९॥

aparigraha-sthairye janma-kathaṃtā-saṃbodhaḥ ||39||

When steadfastness in non-grasping,
understanding of the wherefore of birth.

aparigraha - non-grasping; less grasping; not grasping all around; non-possessiveness; non-covetousnesssthairya - steadfastness, steadinessjanman - birth, production; re-birthkathaṃtā - whereforesaṃbodha - understanding
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Commentaries and Reflections

Commentary by S Ramaswami:

“Thus one can know about the previous birth.
Thus when there is no worry or concern about the past or future, this leads one to the ability to see into the past or future lives.”