Surah Al-A'raf 7:172

وَإِذْ أَخَذَ رَبُّكَ مِنۢ بَنِىٓ ءَادَمَ مِن ظُهُورِهِمْ ذُرِّيَّتَهُمْ وَأَشْهَدَهُمْ عَلَىٰٓ أَنفُسِهِمْ أَلَسْتُ بِرَبِّكُمْ ۖ قَالُوا۟ بَلَىٰ ۛ شَهِدْنَآ ۛ أَن تَقُولُوا۟ يَوْمَ ٱلْقِيَـٰمَةِ إِنَّا كُنَّا عَنْ هَـٰذَا غَـٰفِلِينَ

And [mention] when your Lord took from the children of Adam - from their loins - their descendants and made them testify of themselves, [saying to them], "Am I not your Lord?" They said, "Yes, we have testified." [This] - lest you should say on the Day of Resurrection, "Indeed, we were of this unaware."

Translation: Saheeh International

Tafsir

And remember when your Lord took from the Children of Adam from their loins min zuhūrihim is an inclusive substitution for the preceding clause min banī Ādama ‘from the Children of Adam’ with the same preposition min ‘from’ their seed by bringing forth one from the loins of the other all from the loins of Adam …

Excerpt from Tafsir al-Jalalayn, commentary on 7:172, via Quran.com. The reader has the full commentary and 9 more tafsirs.