मनीषिणः sagacious Vasistha's, रथाभ्याशम् near the chariot, त्वरमाणः hastening steps, अभ्येत्य having approached, ततः thereafter, रथात् from the chariot, स्वयम् personally , परिगृह्य holding(his hand), अवतारयामास got him alighted.

Hastening with rapid strides, Rama approached the chariot of the sagacious Vasistha and personally helped him alight from the chariot.