Arthashastra

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वेणु दल रज्जु हस्तानाम् अन्यतमेन वा पृष्ठे त्रिर् आघातः ॥

Or three beats either with a bamboo-bark or with a rope or with the palm of the hand may be given on her hips.

english translation

veNu dala rajju hastAnAm anyatamena vA pRSThe trir AghAtaH ॥

hk transliteration by Sanscript