SB 9.18.19

dattvā svam uttaraṁ vāsas
 tasyai rājā vivāsase
gṛhītvā pāṇinā pāṇim
 ujjahāra dayā-paraḥ
Word for word: 
dattvā — giving; svam — his own; uttaram — upper; vāsaḥ — cloth; tasyai — unto her (Devayānī); rājā — the King; vivāsase — because she was naked; gṛhītvā — catching; pāṇinā — with his hand; pāṇim — her hand; ujjahāra — delivered; dayā-paraḥ — being very kind.
Translation: 
Seeing Devayānī naked in the well, King Yayāti immediately gave her his upper cloth. Being very kind to her, he caught her hand with his own and lifted her out.