sacimata dekhi' sabe tanra ajna lana
anande calila krsna-kirtana kariya
saci-mata dekhi'-seeing Sacimata; sabe—all of them; tanra ajna lana—taking her permission; anande—with great jubilation; calila—they proceeded; krsna-kirtana kariya—performing congregational chanting.
The devotees first saw Sacimata and took her permission. Then, in great happiness, they started for Jagannatha Puri, congregationally chanting the holy name of the Lord.
Link to this page: http://prabhupadabooks.com/cc/antya/12/14