Analysis of information sources in references of the Wikipedia article "Indo-Aryan languages" in English language version.
The modern, regional Indo-Aryan languages developed from Prakrt, an early 'unrefined' (prakrta) form of Sanskrit, around the close of the first millennium A.D.
The Aryans spoke an Indo-European language sometimes called the Vedic language from which have descended Sanskrit and other Indic languages ... Prakrit was a group of variants which developed alongside Sanskrit.
... a number of their morphophonological and lexical features betray the fact that they are not direct continuations of R̥gvedic Sanskrit, the main base of 'Classical' Sanskrit; rather they descend from dialects which, despite many similarities, were different from R̥gvedic and in some regards even more archaic.
... Hindustani is the basis for both languages ...