Pasuram:

uduththuk kaLaindha nin pIthaga Adai uduththuk kalaththathuNdu
thoduththa thuzhAy malar sUdik kaLaindhana sUdum iththoNdargaLOm
viduththa thisaik karumam thiruththith thiruvONath thiruvizhavil
paduththa painnAgaNaip paLLi koNdAnukkup pallANdu kURudhumE

Meaning:

nin 				- Your
pIthaga Adai 			- divine pItAmbara (yellow cloth)
uduththu 			- that was worn around Your waist
kaLaindha 			- and removed
uduththu 			- (we) wear;
kalaththadu 			- the leftovers (from what You accepted)
uNdu 				- (we) eat;
thoduththa 			- the garlands (made by devotees)
thuzhAy malar 			- made of Tulasi flowers
sUdi kaLaindhana 		- that You wore and removed
sUdum 				- (we) wear;
viduththa thisai karumam 	- the actions sent in all directions
ith thoNdargaLOm 		- by such devotees as us
thiruththi 			- are well completed (by You);
paLLi koNdAnukku 		- To You who rests
nAga aNai 			- on the bed that is Adisesha
paduththa pai 			- which is laid down with its hoods,
thiruvONa thiruvizhavil 	- on the divine day of Thiruvonam
pallANdu kURudhum 		- we sing Thiruppallandu.

Vyakhyana Saram:
Azhvar invited those who seek nothing but Him in the "vAzhAtpattu" pasuram. They came and joined him in the "endhai thandhai" pasuram. In this pasuram, Azhvar sings mangalashasanam to Him with them.