Srimad Bhagavatam Canto 08, Chapter 23, Text 03

SB 8.23.3

sri-suka uvaca
ity uktva harim anatya
 brahmanam sabhavam tatah
vivesa sutalam prito
 balir muktah sahasuraih
 
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada: 
 
Sukadeva Gosvami continued: After speaking in this way, Bali Maharaja offered his obeisances first to the Supreme Personality of Godhead, Hari, and then to Lord Brahma and Lord Siva. Thus he was released from the bondage of the naga-pasa [the ropes of Varuna], and in full satisfaction he entered the planet known as Sutala.
Srimad Bhagavatam Canto 08, Chapter 23, Text 02
Srimad Bhagavatam Canto 08, Chapter 23, Text 04