सुमन्त्रः Sumantra, तम् राघवम् that Rama, स्यन्दनोत्तमात् from that splendid chariot, अवतार्य having assisted him to alight, पितुः to father's, समीपम् proximity, गच्छन्तम् proceeding, प्राञ्जलि: with folded palms, पृष्ठतः behind, अन्वगात् followed.

 Sumantra assisted Rama while alighting from that splendid chariot and followed him with folded palms as Rama was proceeding towards his father.