Valmiki Ramayana Bala Kanda Sarga 77 Shloka 21

कैकयीसुत: son of Kaikeyi, भरत: Bharata, दशरथस्य Dasaratha's, एतत् this, श्रुत्वा having heard, गुरुम् father, रामम् Rama, अभिवाद्य having paid obeisance, लक्ष्मणम् Lakshmana, परिष्वज्य embracing, तदा then, शत्रुघ्नसहित: together with Satrughna, गमनाय to depart, अभिचक्राम started.

Having heard the words of Dasaratha, Bharata, son of Kaikeyi paid obeisance to his father and Rama, embraced Lakshmana and prepared for the journey with Satrughna.