(Devarim, Ibid. 7) "And we cried out to the L-rd, the G-d of our fathers": as it is written (Shemoth 2:23) "And it was in the course of those many days that the king of Egypt died, and the children of Israel moaned under the toil, and they cried out, etc."
"and the L-rd heard our voices": as it is written (Shemoth, Ibid. 24) "And G-d heard their outcry."
"And He saw our affliction": This refers to (enforced) separation from conjugal relations, as it is written (Shemoth, Ibid. 25) "… and G-d saw the children of Israel, and G-d knew (i.e., He "took it to heart.")