Valmiki Ramayana Ayodhya Kanda Sarga 103 Shloka 18

मनुजव्याघ्रः best among men, सत्यसङ्गरः true to his promise, रामः Rama, समुत्थाय having risen, सर्वासाम् to all, तासां मात्रूणाम् of those mothers, शुभान् auspicious, चरणान् feet, जग्राह clasped.

Rama, the best among men and true to his promise, rose and touched the auspicious feet of all his mothers (in reverence).