Nakula was the fourth among the five Pandavas. His mother was the Madra princess Madri. It is believed that he was born by the practice of Niyoga by which a king obtains son to inherit his kingdom through his queen by the help of qualified sage like men. Kuru King Pandu thus obtained Nakula as son, through the practice of Niyoga.
Nakula was born and brought up along with his brothers Yudhishthira, Bhima, Arjuna and Sahadeva in recluse of sages, in a forest surrounding the valley of Satasringa mountains, believed to be somewhere in Uttaranchal. Nakula later moved along with his brothers to live in the city of Hastinapura, the capital of Kuru kingdom.
Nakula studied sword fight under the preceptor Drona.