COMING OF KRISHNA TO UDUPI

Once, Devaki told Krishna of her desire to see him as a child since he was with Yashoda in his childhood.
Krishna immediately assumed his child form, played with Devaki, smeared butter on his face and playfully snatched the churn and rope from her.

Rani Rukmini witnessed this scene and got a murti of child Krishna made who was holding a churning rod and rope. When Krishna went back to Vaikuntha, Arjun deposited the murti in Rukminivana. Over time, the murti got covered under mud and clay.
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Centuries later, a ship found this heavy lump of clay and the sailors loaded it on the ship as ballast. While sailing near Udupi, the ship got stuck on a sandbank where Madhavacharya was absorbed in composing Dvadasha-stotra. Seeing the stuck ship, Madhvacharya waved his cloth.

This calmed the stormy seas, and the ship floated free. Madhva then guided the vessel to safety. Eager to show his appreciation, the captain offered Madhva whatever he wanted from the ship’s cargo. Madhva chose the heavy lump. The lump broke in two, revealing Bala Krishna.

Madhava lifted the Murti as if He were a child. He carried the murti to Udupi and bathed it in a lake later known as Madhva-sarovara. He enshrined the murti in the Sri Krishna Matha.
Thus, Bal Krishna came from Dwarka to Udupi.