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Natyashastra

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पादचार्यां यथा पादो धरणीमेव गच्छति । एवं हस्तश्चरित्वा तु कटिदेशं समाश्रयेत् ॥ ४९॥

When in course of a Cārī a foot comes to rest on the ground the [corresponding] hand should be moved round and brought on the waist.

english translation