This passage comes from one of Kālidāsa’s two long poems (mahākāvyam), the Dynasty of Raghu (Raghuvaṁśaḥ). The passage (9.72–82) relates a famous incident of manslaughter, in which Daśaratha, Rāma’s father, unwittingly kills a boy in the forest while hunting.
This selection is found in Father R. Antoine’s Sanskrit Manual (the whole book is downloadable here; this selection can be found in PDF format here).
For these reading passages, I have created some annotations on this webpage with hypothes.is. (You will only be able to see the annotations with the browser plugin: please feel free to add your own!) For technical reasons, it appears that the annotations are only visible in one of the script versions, so I will add my own annotations to the Dēvanāgarī text.
Useful links. M. R. Kale has put together a good student edition of the Raghuvaṁśaḥ, including an edition (with Mallinātha’s commentary), a translation, and very useful notes, and this is available on Internet Archive.