SB 10.86.9
mahatyam deva-yatrayam
ratha-stham durga-nirgatam
jaharanumatah pitroh
krsnasya ca maha-rathah
Translation:
Once, on the occasion of a great temple festival in honor of the Supreme Lord, Subhadra rode out of the fortresslike palace on a chariot, and at that time the mighty chariot warrior Arjuna took the opportunity to kidnap her. Subhadra’s parents and Krsna had sanctioned this.
Purport:
Srila Visvanatha Cakravarti identifies this festival as the annual Ratha-yatra for Lord Visnu on the occasion of His rising from mystic sleep at the end of Caturmasya. Subhadra’s parents are Vasudeva and Devaki.