In plain words
Those who once sought the self alone, now reformed, to the Lord: O our Lord, on whatever day the words "we are your servants" were set down in writing for you, from that very day the households of us your servants, bound to you in service, gained release and were saved. See! O you who appeared on a blessed day, who bent and broke the bow in holy Mathurā [in Kaṃsa's armoury] and leapt upon the heads of the five-headed hooded serpent [Kāḷiya], we sing "many years" to you.