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SB 3.20.3

dvaipāyanād anavaro
 mahitve tasya dehajaḥ
sarvātmanā śritaḥ kṛṣṇaṁ
 tat-parāṁś cāpy anuvrataḥ
Synonyms: 
dvaipāyanāt — from Vyāsadeva; anavaraḥ — in no way inferior; mahitve — in greatness; tasya — his (Vyāsa’s); deha-jaḥ — born of his body; sarva-ātmanā — with all his heart; śritaḥ — took shelter; kṛṣṇam — Lord Kṛṣṇa; tat-parān — those devoted to Him; ca — and; api — also; anuvrataḥ — followed.
Translation: 
Vidura was born from the body of Vedavyāsa and was not less than he. Thus he accepted the lotus feet of Kṛṣṇa wholeheartedly and was attached to His devotees.
Purport: 

The history of Vidura is that he was born of a śūdra mother, but his seminal father was Vyāsadeva; thus he was not less than Vyāsadeva in any respect. Since he was born of a great father, who was supposed to be an incarnation of Nārāyaṇa and who composed all the Vedic literatures, Vidura was also a great personality. He accepted Kṛṣṇa as his worshipable Lord and followed His instructions wholeheartedly.