Srimad Bhagavatam Canto 10, Chapter 85, Text 34

SB 10.85.34

rsir uvaca
evam sañcoditau matra
 ramah krsnas ca bharata
sutalam samvivisatur
 yoga-mayam upasritau
 
Translation: 
 
The sage Sukadeva said: Thus entreated by Their mother, O Bharata, Balarama and Krsna employed Their mystic Yoga-maya potency and entered the region of Sutala.
Srimad Bhagavatam Canto 10, Chapter 85, Text 32-33
Srimad Bhagavatam Canto 10, Chapter 85, Text 35