Sanjaya said Having received the permission of his maternal uncle (Shalya) the king of the Madra, the son of Kunti (Yudhishthira), surrounded by his brothers, came out of the vast (Kuru) army.
संजय उवाच अनुमान्याथ कौन्तेयो मातुलं मद्रकेश्वरम्। निर्जगाम महासैन्याद् भ्रातृभिः परिवारितः॥