In plain words
That is the empire of the heart; that is Ayodhyā.
It has three gates. They are the guṇas, sattva, rajas and tamas. To Daśaratha, who joins with these three guṇas and, together with the ten senses, rules the kingdom called the heart, four sons were born. Those four are the forms of Dharma, artha, kāma and Mokṣa. Of these four puruṣārthas, Dharma comes first of all, and that is Rāmacandra. Then the brothers who followed Rāmacandra: artha, kāma and Mokṣa. Only when man follows in this way does his life become blessed. And so these four brothers came to be divided into two. Bharata and Śatrughna went to one side, Rāma and Lakṣmaṇa to the other. Dharma and artha, the two of them, became one. Kāma and Mokṣa, the two of them, became one; artha is what follows Dharma! The one who desired Mokṣa is Śatrughna. But today, under the sway of the Kali age, of the four paths called Dharma, artha, kāma and Mokṣa, man is snapping off Dharma and scorning Mokṣa. He has fallen into artha and kāma and thrashes about in them. Mokṣa is not needed. There is no need to step into Dharma. Artha and kāma together are enough. This is simply a demonic quality. You could say it is simply the demonic nature in human shape. That is why, so that the world should not take up such an unholy path, Rāma showed His own form as Dharma and set the conduct of His brothers well before the world.
The principle of Rāma cannot be grasped. His depths cannot be known at all. That is why they said, ‘Yato vāco nivartante aprāpya manasā saha.’ Rāma is one whose principle is beyond the reach of either the Manas or speech. Such a Rāmacandra had to go to live in the forest. Though so many said no, Lakṣmaṇa went with Rāmacandra, following Him. He left the mother and father who bore him. He left even the wife he had married. He gave up his own worldly pleasures. He set out with the aim before him: Rāma alone matters to me. Following Sītā and Rāma in this way and serving them as their servant, he held that this very aim, making his life blessed, was the supreme goal. At the time of the war with Rāvaṇa, Lakṣmaṇa stood as this Rāma's right arm and went through many hard straits. He welcomed the hardships with all his heart. Smiling, smiling, he bore the hardships. Once, as they went searching for Sītā, the two of them were caught in the hands of Kabandha. Then Lakṣmaṇa speaks: “Brother! You need not grieve over me in the least. Hand me over to this Kabandha as his food and keep Yourself safe,” he pleaded. Lakṣmaṇa was one who stood ready to give up even his life for his brother's sake. That is why, once on the battlefield, when Lakṣmaṇa swooned, Rāma, to give an ideal in the way of the world, acted for a while as one stricken with grief.