Srimad Bhagavatam Canto 10, Chapter 38, Text 34

SB 10.38.34

rathat turnam avaplutya
 so ’krurah sneha-vihvalah
papata caranopante
 danda-vad rama-krsnayoh
 
Translation: 
 
Akrura, overwhelmed with affection, quickly jumped down from his chariot and fell at the feet of Krsna and Balarama like a rod.
Srimad Bhagavatam Canto 10, Chapter 38, Text 43
Srimad Bhagavatam Canto 10, Chapter 38 Narration