Valmiki Ramayana Ayodhya Kanda Sarga 5 Shloka 7
Original Shlokaअभ्येत्य त्वरमाणश्च रथाभ्याशं मनीषिणः। ततोऽवतारयामास परिगृह्य रथात्स्वयम्।।2.5.7।।
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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.