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It is proved that Drinfel'd's pentagon equation implies the generalizeddouble shuffle relation. As a corollary, an embedding from theGrothendieck-Teichm\"uller group $GRT_1$ into Racinet's double shuffle group$DMR_0$ is obtained, which settles the project of Deligne-Terasoma. It is alsoproved that the gamma factorization formula follows from the generalized doubleshuffle relation.

Double shuffle relation for associators