SB 8.23.3

śrī-śuka uvāca
ity uktvā harim ānatya
 brahmāṇaṁ sabhavaṁ tataḥ
viveśa sutalaṁ prīto
 balir muktaḥ sahāsuraiḥ
Word for word: 
śrī-śukaḥ uvāca — Śrī Śukadeva Gosvāmī said; iti uktvā — saying this; harim — unto the Supreme Personality of Godhead, Hari; ānatya — offering obeisances; brahmāṇam — unto Lord Brahmā; sa-bhavam — with Lord Śiva; tataḥ — thereafter; viveśa — he entered; sutalam — the planet Sutala; prītaḥ — being fully satisfied; baliḥ — Bali Mahārāja; muktaḥ — thus released; saha asuraiḥ — with his asura associates.
Translation: 
Śukadeva Gosvāmī continued: After speaking in this way, Bali Mahārāja offered his obeisances first to the Supreme Personality of Godhead, Hari, and then to Lord Brahmā and Lord Śiva. Thus he was released from the bondage of the nāga-pāśa [the ropes of Varuṇa], and in full satisfaction he entered the planet known as Sutala.