SB 10.64.30

ity uktvā taṁ parikramya
 pādau spṛṣṭvā sva-maulinā
anujñāto vimānāgryam
 āruhat paśyatāṁ nṛṇām
Word for word: 
iti — thus; uktvā — having spoken; tam — Him; parikramya — circumambulating; pādau — His feet; spṛṣṭvā — touching; sva — with his; maulinā — crown; anujñātaḥ — given leave; vimāna — a celestial airplane; agryam — excellent; āruhat — he boarded; paśyatām — as they watched; nṛṇām — humans.
Translation: 
Having spoken thus, Mahārāja Nṛga circumambulated Lord Kṛṣṇa and touched his crown to the Lord’s feet. Granted permission to depart, King Nṛga then boarded a wonderful celestial airplane as all the people present looked on.