Srimad-Bhagavatam: Canto 10 - Chapter 1 - Verse 9

Sanskrit:

महत्यां देवयात्रायां रथस्थां दुर्गनिर्गताम् ।जहारानुमत: पित्रो: कृष्णस्य च महारथ: ॥ ९ ॥

ITRANS:

mahatyāṁ deva-yātrāyāṁratha-sthāṁ durga-nirgatāṁjahārānumataḥ pitroḥkṛṣṇasya ca mahā-rathaḥ

Translation:

Once, on the occasion of a great temple festival in honor of the Supreme Lord, Subhadrā rode out of the fortresslike palace on a chariot, and at that time the mighty chariot warrior Arjuna took the opportunity to kidnap her. Subhadrā’s parents and Kṛṣṇa had sanctioned this.

Purport:

Śrīla Viśvanātha Cakravartī identifies this festival as the annual Ratha-yātrā for Lord Viṣṇu on the occasion of His rising from mystic sleep at the end of Cāturmāsya. Subhadrā’s parents are Vasudeva and Devakī.