śacīmātā dekhi' sabe tāṅra ājñā lañā
ānande calilā kṛṣṇa-kīrtana kariyā
śacī-mātā dekhi'-seeing Śacīmātā; sabe—all of them; tāṅra ājñā lañā—taking her permission; ānande—with great jubilation; calilā—they proceeded; kṛṣṇa-kīrtana kariyā—performing congregational chanting.
The devotees first saw Śacīmātā and took her permission. Then, in great happiness, they started for Jagannātha Purī, congregationally chanting the holy name of the Lord.
Link to this page: https://prabhupadabooks.com/cc/antya/12/14