सूतः the charioteer, इति in this way, मतिं कृत्वा having thought, महता हर्षेण with great delight, वृतः filled, महाबाहोः one with mighty arms, राघवस्य Rama's, दिदृक्षया with an intention to see Rama, निर्जगाम came out.

So thought the charioteer and filled with great delight left (the inner apartment), eager to see the mightyarmed Rama.