śacī-mātā dekhi' - seeing Śacīmātā; sabe - all of them; tāṅra ājñā lañā - taking her permission; ānande - with great jubilation; calilā - they proceeded; kṛṣṇa-kīrtana kariyā - performing congregational chanting.

The devotees first saw Śacīmātā and took her permission. Then in great happiness they started for Jagannātha Purī, congregationally chanting the holy name of the Lord.