इह here, आगच्चत come, गच्चामः will go, वयम् we, बलदर्पितान् proud of their power, मधु Madhu, भक्षयतः consume honey, वानरान् vanaras, बलेन forcibly, वारयिष्यामः will prevent them.

"Come, we will all go there to Madhuvanam and prevent forcibly the vanaras who have consumed honey proud of their power.