SB 8.18.27

svāgatenābhinandyātha
 pādau bhagavato baliḥ
avanijyārcayām āsa
 mukta-saṅga-manoramam
Synonyms: 
su-āgatena — by words of welcome; abhinandya — welcoming; atha — thus; pādau — the two lotus feet; bhagavataḥ — of the Lord; baliḥ — Bali Mahārāja; avanijya — washing; arcayām āsa — worshiped; mukta-saṅga-manoramam — the Supreme Personality of Godhead, who is beautiful to the liberated souls.
Translation: 
Thus offering a proper reception to the Supreme Personality of Godhead, who is always beautiful to the liberated souls, Bali Mahārāja worshiped Him by washing His lotus feet.