BG 6.41-43
Having attained to the worlds of the pure-doing, and having dwelt there for immemorial years, he who fell from yoga is reborn in a pure and blessed house; Or he may even be born into a family of wise Yogîs; but such a birth as that is most difficult to obtain in this world. There he recovereth the characteristics belonging to this former body, and with these he again laboureth for perfection, O joy of the Kurus.