In plain words
Daśaratha, lamenting to Rāma: With Kausalyā and Sumitrā, whose hair bears fine flowers spilling honey, aching at heart, you took the word of that cruel woman [Kaikēyi] who heeded the word of the maid [Kūni] as crooked as her hunched body, and today, greatly desiring the forest, you left this rich city. Leaving it too, I am going, greatly desiring heaven, O king of the kings of Manu's line.