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Theory:

     Weary and heart sick, the youth gently released his burden and silently prepared a place of comfort as his last duty to the loved one. Gathering fallen pine needles, he made a soft cushion and tenderly lifted his old mother onto it. He wrapped her padded coat more closely about the stooping shoulders and with tearful eyes and an aching heart he said farewell.
Explanation:
 
When the farmer reached the summit of the mountain, he felt tired. More importantly, despite his fatigue, his heart became heavy with thoughts about abandoning his mother. He then freed his mother's weight from his back and placed her on the ground. After that, he silently prepared a comfortable place for his mother to take rest. So, he gathered some fallen pine leaves and made a soft cushion out of them for his mother.
 
"Pine needles" here refers to pine leaves that are needle shaped. He then wrapped his mother in her padded coat more closely around the stooping shoulders, which was the effect of her old age. And at last, he said farewell to his mother with an aching heart and tears in his eyes. His love and sympathy toward his mother are portrayed in these lines.
  
Meaning of difficult words:
  
S. No.
Words
Meaning
1.
StoopTo bend half of your body forward down
Reference:
State Council of Educational Research and Training (2018). English Standard-10. The Aged Mother - Matsuo Basho (pp. 120-122). Published by the Tamil Nadu Textbook and Educational Services Corporation.