thozhudhu malar koNdu thUbam kai Endhi
ezhudhum ezhuvAzhi nenjchE! - pazhudhinRi
mandhirangkaL kaRpanavum mAl adiyE kai thozhuvAn
andharam onRillai adai 

Meaning:

nenjchE 			- O mind!
vAzhi 				- May goodness happen to you;
malar koNdu 			- Carrying flowers
dhUpam kai Endhi 		- and fragrance in hand
thozhudhu 			- let us pray
ezhudhum 			- and rise;
ezhu 				- so, stand up.
kaRpanavum 			- Learning
mandhirangkaL 			- the mantras about the Lord
pazhudhinRi 			- without break
mAl adiyE kai thozhuvAn 	- is for the purpose of praying to His divine feet with folded hands.
andharam onRu illai 		- Therefore, there is no reason to hesitate.
adai 				- Approach Him (now).

Vyakhyana Saram:
And when He is like that, Azhvar tells his mind, there is no need for it to rest for even a moment and that it should go to His divine feet immediately.