In plain words
Amutaṉār: On that day, for the five [Pāṇḍavas] who held to his feet and stood proud, the Lord drove the tall chariot with its horses till the Bhārata war was ended. Rāmānuja, nectar to the servants who know all that Lord's qualities, came and was born on this earth to rule me; if one looks into it, there is no other reason.