Srimad Bhagavatam Canto 10, Chapter 44, Text 50

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SB 10.44.50

mataram pitaram caiva
 mocayitvatha bandhanat
krsna-ramau vavandate
 sirasa sprsya padayoh
 
Translation: 
 
Then Krsna and Balarama released Their mother and father from bondage and offered obeisances to them, touching their feet with Their heads.
Srimad Bhagavatam Canto 10, Chapter 44, Text 49
Srimad Bhagavatam Canto 10, Chapter 44, Text 51