The song is from silappadikAram by Ilango Adigal.

Corrections welcome:
1: vaDavaraiyai mattAkki vAsukiyai nArAkkik-kaDal vaNNan paNDorunAL kaDal vayiru kalakkinaiyE kalakkiya kai yasOdaiyAr kaDaikayiTrAl kaTTuN kai malark-kamala unDiyAi mAyamO marutkaittE
2 : aruporuL ivanenrE amararkaNam thozhuthEththa uuupasi_onru inriyE ulakadaiya uNdanaiyE uNdavAi kaLavinAn uriveNNai uNdavAi vaNduLAi mAlaiyAi mAyamO marutkaittE
3 : tiraNDamarar tozhuttEttum tirumAl nin shenkamala iraNDaDiyaAl mUvulagum iruL tIra naDandanaiyE naDanda aDi pancavarkkut-tUdAga naDanda_adi madangalAi mArattAi mAyamO marutkaittE
4 : mUvulagum IradiyAn murai nirambA vagaimuDiyat-tAviya sEvaDi cEppat-tambiyoDum kANpOndu sO_araNum pOr maDiyat-tollilankai kaTTazhitta sEvakan sIr kELAda sevi enna seviyE tirumAl sIr kELAda sevi_enna seviyE
5 : periyavanai mAyavanaip-pErulagam ellAm virikamala undiyuDai viNNavanaik-kaNNum tiruvaDiyum kaiyum tiruvAyum seyya kariyavanaik-kANAda kaNNenna kaNNE kaN imaittuk-kANpArtam kaNNenna kaNNE
6 : matam thAzhum nenjattuk-kancanAr vanjam kaDandAnai nUTruvarpAl nATrisaiyum pOTrap-paDarndu AraNam muzhangap-pancavarkkut-tUdu naDandAnai EttAda nAvenna nAvE nArAyaNA ennA nAvenna nAvE