Srimad Bhagavatam Canto 10, Chapter 55, Text 35

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SB 10.55.35

evam mimamsamanayam
 vaidarbhyam devaki-sutah
devaky-anakadundubhyam
 uttamah-sloka agamat
 
Translation: 
 
As Queen Rukmini conjectured in this way, Lord Krsna, the son of Devaki, arrived on the scene with Vasudeva and Devaki.
Srimad Bhagavatam Canto 10, Chapter 55, Text 34
Srimad Bhagavatam Canto 10, Chapter 55, Text 36