Shloka 20

पुरोद्यतान्‌ पुरा हास्मानुत्साहा प्रियदर्शने । विदुलाया वचोभिस्त्व॑ नास्मान्‌ संत्यक्तुमहसि,'प्रियदर्शने! पहले जब हमलोग नगरसे बाहर जानेको उद्यत थे, आपने विदुलाके वचनोंद्वारा हमें क्षत्रियरधर्मके पालनके लिये उत्साह दिलाया था। अतः: आज हमें त्यागकर जाना आपके लिये उचित नहीं है

purodyatān purā hāsmān utsāhā priyadarśane | vidulāyā vacobhis tvaṁ nāsmān saṁtyaktum arhasi ||

पुरोद्यतान् पुरा हास्मानुत्साहा प्रियदर्शने । विदुलाया वचोभिस्त्वं नास्मान् संत्यक्तुमर्हसि ॥

{'purodyatān''previously prepared/ready (to set out)', 'purā': 'formerly, earlier', 'ha': 'indeed (emphatic particle)', 'asmān': 'us', 'utsāhā': 'you encouraged
{'purodyatān':
you roused enthusiasm/courage', 'priyadarśane''O pleasant/fair to behold (vocative address)', 'vidulāyāḥ': 'of Vidulā (genitive)', 'vacobhiḥ': 'by words, through speech (instrumental plural)', 'tvam': 'you', 'na': 'not', 'saṁtyaktum': 'to abandon, to forsake', 'arhasi': 'you ought/are fit (here: it is proper for you)'}
you roused enthusiasm/courage', 'priyadarśane':

वैशम्पायन उवाच

V
Vaiśampāyana
V
Vidulā
P
priyadarśanā (addressed person)
N
nagara (city)

Educational Q&A

One should remain consistent with the duty and resolve one has earlier inspired in others; having urged adherence to kṣatriya-dharma, it is ethically improper to withdraw support or abandon companions at a critical moment.

The speaker recalls an earlier moment when the addressed person encouraged the group—citing Vidulā’s instructive words—when they were about to leave the city, and now argues that the same person should not desert them.