In tantra, Dorje Chang Buddha is the focal point of the Kagyu lineage because its patriarch Tilopa received the Vajrayana teachings directly from Dorje Chang, the Sambhogakaya Buddha. In the Nyingma lineage, Vajradhara is considered inseparable from Padmasambhava. In the exoteric vehicle, he is the great layman Vimalakirti who helped Shakyamuni Buddha teach his great disciples and bodhisattvas 2500 years ago.
Tilopa was born into a Brahmin family in East Bengal, India. He received the Mahayana teachings from Bodhisattva Nagarjuna and then renounced his kingdom to become a monk. He received ordination at Somapuri Tantra in Bengal and received Chakrasamvara Tantra teachings from a Dakini. He was proficient in Bardo, Phowa, Tummo and many other oral teachings. Tilopa lived in seclusion and became a famous Great Master, choosing Naropa as the successor to the lineage.
Naropa was born into a noble family in Bengal, India. He received the three refuges and five precepts with his guru Arya Akasha and then received bhikkhu ordination in Kashmir. Naropa became the rector of Nalanda University. After overcoming many trials under Tilopa's guidance, Naropa realized the luminous nature of his mind and became a Mahasiddha. He taught Buddha Dharma to many disciples, including Marpa.
Marpa was born in Chukhyer, Southern Tibet. He learned Sanskrit and Dharma from Lama Drogmi Lotsawa. Marpa came to India to seek teachings and receive teachings from Naropa. He translated many Mahamudra and Vajrayana teachings into Tibetan and taught the teachings widely. Marpa chose Milarepa as the successor of the lineage.
Milarepa was born in Gungthang, Western Tibet. After losing his father, he learned magic to take revenge on his uncle and aunt, but later regretted it and found a teacher to learn the magic to purify his sins. Milarepa met Marpa and went through many trials to receive the teachings. Milarepa became an important wandering Yogi and achieved great enlightenment. Gampopa and Rechungpa were his two chief disciples.
Gampopa was born in Nyal, Southern Tibet. After losing his wife and children, he became a monk and studied the Kadampa dharma. Gampopa met Milarepa and received the entire Kagyud teachings. He wrote many important sutras and chose four great disciples to establish the Karma, Phagdru, Shangpa and Darom lineages.
Phagmo Drupa was born into a poor family in Kham province, Eastern Tibet. He was humble and compassionate, often giving alms to the poor. He visited Dagla Gampo monastery and realized the nature of wisdom after meeting Gampopa. Phagmo Drupa mastered Mahamudra.
He was born in 1143 in Kham province, Eastern Tibet, into the Drugyal Kyura family. He was the most devoted disciple of Phagmo Drupa and was certified as a true disciple. He attained Buddhahood in this very life and is called the protector of the three realms in Tibetan Buddhism.
He founded the Drikung Kagyupa lineage and the great Tibetan Drikung Thil monastery that continues to this day.
Source: Summary