Did the Prophet interpret the Qur'an?

The Prophet (peace be upon him) explained what people needed from the Quran, in compliance with Allah's command in Surat An-Nahl: "And We have sent down to you the Reminder that you may make clear to the people what was sent down to them and that they might give thought." He did not explain the entire Quran because the Companions did not need that, but he would clarify for them what was unclear to them.