In the time of Dwapar’s transition period, there was religious and political turbulence, along with social violence in which the common people were getting troubled and grinded. Humanity was disgraced everywhere. The imperial power at that era was inactive, shameless and was busy in unnecessary luxurious expenditure to the core. Law and enforcement were unstable, and all masses were fleeting and gasping to save their life.

And why not? The kings of many states were proud, careless leaders full of apathy. They were ruling a life of demoniac mentality ripping the culture and tradition of sastras and Vedas. Mother earth was full of all this unethical pandemonium and was feeling the weight of guilt and misdeeds of crimes and offenses due to the callous unworthy rulers. Therefore, Mother earth decided to take shelter of Brahma the forefather of all human race, disguised as a cow, and requested to save her from this misery.

yadā yadā hi dharmasya
glānir bhavati bhārata
abhyutthānam adharmasya
tadātmānaṁ sṛjāmy aham

paritrāṇāya sādhūnāṁ
vināśāya ca duṣkṛtām
dharma-saṁsthāpanārthāya
sambhavāmi yuge yuge

Whenever and wherever there is a decline in religious practice, O descendant of Bharata, and a predominant rise of irreligion – at that time I descend Myself.
To deliver the pious and to annihilate the miscreants, as well as to reestablish the principles of religion, I Myself appear, millennium after millennium.
[Srimad Bhagavad Gita 7-8]

So Krishna is telling - Whensoever there is complete darkness and fall of righteousness and insanity will grow to its extreme the brightness is more likely to be effulging to its maximum as I will take birth to perish all inequality to establish faith and justice. Whensoever the material world is swallowed by the curse of inhumanity and barbarity I would be there to bring out the unforeseen shackles of life, to rescue my disciples and to swipe the unruly people so that the fallen souls gets rescued.

During that time the demons like Aristasura, Dhenukasura, Pralambasura, Keshiraja, Narakasura, Sunda, Banasura were nurtured and pampered under the leadership of the mighty fallen cruel king Kamsa.

The wicked demon king Kamsa was born in "Bhojabansa" (The Bhoja Dynasty) whose father was Ugrasena. Her mother was impregnated by a demon named Drumil disguised as Ugrasena (Padma Purana: Sṛṣṭi-khaṇḍa 48–51) and out of this illicit relation, Kamsa was born with such tormented behavior. Kamsa in his past life he was Kalnemi who was killed by Lord Vishnu.

So, Brahma heeded to "bhumi devi" disguised as cow very carefully and then after being escorted by Lord Shiva and other Demigods went to “Khir-Sagar” or "Ocean of Milk" where Lord Vishnu is resting on Ananta Nag. 

Brahmā can approach the Supreme Lord Viṣṇu, not by seeing Him directly but by standing on the shore of the ocean of milk. Then Lord Brahmā personally sat in meditation, and there was a message-transmission from Lord Viṣṇu to Brahmā. Brahmā then broadcast the message to the demigods.

The message was this: The Supreme Personality of Godhead would appear on the earth very soon along with His supreme powerful potencies, and as long as He remained on the earth planet to execute His mission of annihilating the demons and establishing the devotees, the demigods should also remain there to assist Him. They should all immediately take birth in the family of the Yadu dynasty, wherein the Lord would also appear in due course of time. The Supreme Personality of Godhead Himself, Kṛṣṇa, would personally appear as the son of Vasudeva. Before His appearance, all the demigods, along with their wives, should appear in different pious families in the world just to assist the Lord in executing His mission. 

[Krihsna, The Supreme Personality of Godhead - Chapter 1]

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