SB 10.47.64

śrī-śuka uvāca
atha gopīr anujñāpya
 yaśodāṁ nandam eva ca
gopān āmantrya dāśārho
 yāsyann āruruhe ratham
Word for word: 
śṛī-śukaḥ uvāca — Śukadeva Gosvāmī said; atha — then; gopīḥ — of the gopīs; anujñāpya — taking permission; yaśodām — of mother Yaśodā; nandam — King Nanda; eva ca — also; gopān — of the cowherds; āmantrya — taking leave; dāśārhaḥ — Uddhava, descendant of Daśārha; yāsyan — being about to leave; āruruhe — mounted; ratham — his chariot.
Translation: 
Śukadeva Gosvāmī said: Uddhava, the descendant of Daśārha, then took permission to leave from the gopīs and from mother Yaśodā and Nanda Mahārāja. He bade farewell to all the cowherd men and, about to depart, mounted his chariot.