In S01EP07 of Game of Thrones , Eddard Stark confronts Cersei Lannister regarding the legitimacy of her children along with the fact that hershe and her twin brother are lovers and that his son, Bran, saw the two of them together.
Eddard: brother or your lover?
Cersei: The Targaryens wed brothers and sisters for 300 years to keep bloodlines pure. Jaime and I are more than brother and sister. We shared a womb. We came into this world together. We belong together.
Eddard: My son saw you with him.
Bran didn't have any recollection of what caused his fall. He was not aware that Jaime Lannister pushed him. So, he couldn't have told his father what happened.
How did Eddard know that Bran saw Cersei and Jaime together?