Valmiki Ramayana Ayodhya Kanda Sarga 25 Shloka 40
Original Shlokaआनम्य मूर्ध्नि चाघ्राय परिष्वज्य यशस्विनी। अवदत्पुत्र सिद्धार्थो गच्छ राम यथासुखम्।।2.25.40।।
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यशस्विनी illustrious lady, आनम्य bending him down, मूर्ध्नि on his forehead, आघ्राय having smelt, परिष्वज्य having embraced, अवदत् spoke, पुत्र O son, राम Rama, सिद्धार्थः having fulfilled your objective, यथा सुखम् in peace and happiness, गच्छ go.
Illustrious Kausalya embraced Rama, bending his head down and smelt his forehead. And then said O Rama go in peace and come back after accomplishing the objective.