Bewailing the lot of Sri Rama, Sita and Lakshmana, who did not in any way deserve the hardships they were undergoing in the forest, the Emperor urges Sumantra to deliver their parting message and the charioteer proceeds to tell him what they said.
Recitation: 
Translation: 

Ayodhya Kanda Sarga 59 "Dasharatha Vilapaha" Book 2 Canto 59

This podcast includes an authentic Sanskrit recitation and the reading of a genuine translation in English by Gita Press, Gorakhpur, India. This is not a western translation of the Valmiki Ramayana, nor a re-telling in any form. It is translated by Hindus from within the tradition, and it is thereby recommended as the most authentic recitation and English reading available.

The Ramayana recitation by Sriram-ghanapaathi HariSitaramamurti-ghanapathi is taken from archive.org. The reading is from the English version of Srimad Valmiki Ramayan translation by Gita Press, Gorakhpur, India.