sumantraḥ Sumantra, tam rāghavam that Rama, syandanōttamāt from that splendid chariot, avatārya having assisted him to alight, pituḥ to father's, samīpam proximity, gacchantam proceeding, prāñjali: with folded palms, pṛṣṭhataḥ behind, anvagāt followed.
Sumantra assisted Rama while alighting from that splendid chariot and followed him with folded palms as Rama was proceeding towards his father.