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परित्राणाय साधूनां विनाशाय च दुष्कृताम् ।
धर्मसंस्थापनार्थाय सम्भवामि युगे युगे  ॥

paritrāṇāya sādhūnāṃ vināśāya ca duṣkṛtām
dharma-saṃsthāpanārthāya sambhavāmi yuge yuge – 4.8 

Whenever, O Bharata (Arjuna), righteousness declines and unrighteousness grows, I manifest specially. For protection of the benevolent and eradication of the wicked, to establish righteousness, I manifest time and again.