SB 6.19.10

praṇamed daṇḍavad bhūmau
 bhakti-prahveṇa cetasā
daśa-vāraṁ japen mantraṁ
 tataḥ stotram udīrayet
Synonyms: 
praṇamet — should offer obeisances; daṇḍa-vat — like a stick; bhūmau — on the ground; bhakti — through devotion; prahveṇa — humble; cetasā — with a mind; daśa-vāram — ten times; japet — should utter; mantram — the mantra; tataḥ — then; stotram — prayer; udīrayet — should chant.
Translation: 
One should offer obeisances unto the Lord with a mind humbled through devotion. While offering daṇḍavats by falling on the ground like a rod, one should chant the above mantra ten times. Then one should chant the following prayer.