vīrau heroes, bhrātarau both brothers, tatra there, nivasantau while living, kāmata: of their own accord, tarpyamāṇau cāpi even though satisfied, vṛddham aged, daśarathaṅ nṛpam king Dasaratha, smaratām (constanly) remembered.
Though both the heroic brothers stayed there satisfied on their own they constantly remembered their aged father.