pitvamrtam payas tasyah
te namaskrtya govindam
devakim pitaram balam
yayur dhama divaukasam
By drinking her nectarean milk, the remnants of what Krsna Himself had previously drunk, the six sons touched the transcendental body of the Lord, Narayana, and this contact awakened them to their original identities. They bowed down to Govinda, Devaki, their father and Balarama, and then, as everyone looked on, they left for the abode of the demigods.
Lord Krsna remained as an infant with Devaki and Vasudeva for only a very short time. First the Lord appeared before them in His four-armed Visnu form, and after hearing their prayers He changed Himself into an apparently ordinary infant for their pleasure. But to save Krsna from suffering His brothers’ fate, Vasudeva at once removed Him from Kamsa’s prison. Just before Vasudeva took Him away, Mother Devaki suckled Krsna once so that He would not feel thirsty during the long trip to Nanda-vraja. This we learn from the commentary of Srila Visvanatha Cakravarti Thakura.