# restore to him the pledge

"give him back what he has given you to show that he will pay back the loan"

# so that he may lie down in his cloak and bless you

"so that he will have his coat to keep himself warm when he sleeps, and he will be grateful to you"

# cloak

This was probably the "pledge" Moses was speaking of in Deuteronomy 24:10-12.

# it will be righteousness for you before Yahweh your God

"Yahweh your God will approve of the way you handled this matter"