पूर्वम् before, तयोः both, समागमः met, प्रीत्या affectionately, हार्दः happy at heart, व्यजायत developed, पुरा earlier, सुग्रीवः Sugriva, क्रुद्धेन enraged, भ्रात्रा brother, वालिना Vali, निरस्तः banished, इतरेतरसंवादात् mutual discussion, तयोः both, प्रणयः affection, प्रगाढः was deep

"Even before they met, they had a happy feeling at heart towards each other. Earlier Sugriva was banished by his enraged brother (Vali). On mutual talk and discussion, they both developed deep friendship."