SB 10.71.12

athādiśat prayāṇāya
 bhagavān devakī-sutaḥ
bhṛtyān dāruka-jaitrādīn
 anujñāpya gurūn vibhuḥ
Synonyms: 
atha — then; ādiśat — ordered; prayāṇāya — in preparation for leaving; bhagavān — the Supreme Lord; devakī-sutaḥ — the son of Devakī; bhṛtyān — His servants; dāruka-jaitra-ādīn — headed by Dāruka and Jaitra; anujñāpya — taking permission; gurūn — from His superiors; vibhuḥ — the almighty one.
Translation: 
The almighty Personality of Godhead, the son of Devakī, begged His superiors for permission to leave. Then He ordered His servants, headed by Dāruka and Jaitra, to prepare for departure.
Purport: 

The superiors mentioned here are personalities such as Vasudeva, Lord Kṛṣṇa’s father.