He spoke, and joy thrilled Ráma’s breast; Sugríva’s hand he seized and pressed And, transport beaming from his eye, Held to his heart his new ally. In wanderer’s weed disguised no more, His proper form Hanúmán wore.

In plain words: Rama joyfully takes Sugriva's hand and hugs him as a friend. Hanuman drops his beggar disguise and shows his real form.