Ramayana
आपृच्छ्य पितरं शूरो रामं चाक्लिष्टकारिणम् । मातृश्चापि नरश्रेष्ठ श्शत्रुघ्नसहितो ययौ ॥ १-७७-२२
That valiant and best one among men Bharata on asking leave from his father, from Rama, an uncomplicatedly dextrous one in undertaking deeds, and even from his mothers ( Kaikeyi, Sumitra and Kausalya ), travelled on along with Shatrughna. ॥ 1-77-22॥
english translation
ApRcchya pitaraM zUro rAmaM cAkliSTakAriNam । mAtRzcApi narazreSTha zzatrughnasahito yayau ॥ 1-77-22
hk transliteration by Sanscript