SB 10.71.23

tam upāgatam ākarṇya
 prīto durdarśanaṁ nṛnām
ajāta-śatrur niragāt
 sopadhyāyaḥ suhṛd-vṛtaḥ
Synonyms: 
tam — Him; upāgatam — arrived; ākarṇya — hearing; prītaḥ — pleased; durdarśanam — rarely seen; nṛṇām — by humans; ajāta-śatruḥ — King Yudhiṣṭhira, whose enemy was never born; niragāt — came out; sa — with; upadhyāyaḥ — his priests; suhṛt — by relatives; vṛtaḥ — surrounded.
Translation: 
King Yudhiṣṭhira was delighted to hear that the Lord, whom human beings rarely see, had now arrived. Accompanied by his priests and dear associates, the King came out to meet Lord Kṛṣṇa.