Here is a composition by Shri Purandaradasaru. Song narrates the few incarnations of Lord Vishnu.
King Bali – Vamana, Ahalya – Rama, Serpent Kalinga – Krishna as boy, Kaurava – Krishna.

Lyric follows:

rAga: mukhAri
tALa: aTTa
rachane: shrI puraMdaradAsaru

makkaLa mANikyave manOhara nidhiye
rakkasa shakaTana tuLidudIpAdave /pa/

baliya dAnava bEDi nelava mUraDi mADi
jaladhiya paDedaddu I pAdave
halavu kAlagaLiMda shile shApa paDediralu
phala kAlakkodagiddu I pAdave kRuShNa /1/

kaDukOpadiMda kALiMgana maDuva kalaki
heDeyanu tuLidudu I pAdave
saDagaradiMda kauravana siMhAsanava
hoDemaguchi keDahidudI pAdave /2/

shRuMgAradiMda heMgaLa sahita shrI
aMgane ottuvudu I pAdave
saMgasukhadi shrI puraMdaraviThalana
aMgadoLaDagiddudI pAdave /3/

Meaning of the song:

Ruby among children (makkaLa mANikyave)
Handsome (manOhara) treasure (nidhiye)
Feet (I pAdave) which thrashed (tuLidudu)
the demon (rakkasa) SHAKATA (shakaTana)

Asked the king BALI to gift 3 foot land as charity (baliya dAnava bEDi)
Made the whole world to measure 2 feet and (nelava mUraDi mADi)
3rd foot on BALI's head to give him salvation (jaladhiya paDedaddu I pAdave)
These are the two feet which gave salvation to (phala kAlakodagiddu I pAdave kRuShNa)
the rock laying for a long time by the curse (halavu kAlagaLiMda shile shApa paDediralu)

These are the feet (I pAdave) which trampled (tuLidudu)
the hood (heDeyanu) of KALINGA in angry (kaDukOpadiMda),
the serpent in a pond (kALiMgana maDuva kalaki)
These are the feet (I pAdave) which shooked (hoDemaguchi)
the throne (simhAsanava) of Duryodhana - kaurava
and made him to fell (keDahidudu) at HIS feet

These are the feet massaged (ottuvudu) with love (shRuMgAradiMda) by
women (aMgane - heMgaLu) along with goddess LAKSHMI ( shrI - lakShmi sahita)
These are the feet (I pAdave) placed in the heart of (aMgadoLaDagiddudu)
PURANDARA VITHALA's friendship (saMgasukhadi)

Listen to the song here
Audio by Shri Vidyabhushana:
Spoiler: