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Chapter 1, Verse 21

अर्जुन उवाच हृषीकेशं तदा वाक्यमिदमाह महीपते। सेनयोरुभयोर्मध्ये रथं स्थापय मेऽच्युत।।1.21।।

arjuna uvāca hṛṣīkeśaṃ tadā vākyamidamāha mahīpate. senayorubhayormadhye rathaṃ sthāpaya me'cyuta।।1.21।।

Word by word

अर्जुनः उवाच
Arjuna said
हृषीकेशम्
to Hrishikesha (Krishna, 'lord of the senses')
तदा
then, at that time
वाक्यम्
speech, words
इदम्
this
आह
said, spoke
महीपते
O lord of the earth (addressing Dhritarashtra)
सेनयोः उभयोः मध्ये
between the two armies
रथम्
chariot
स्थापय
station, place (imperative)
मे
my
अच्युत
O Achyuta (the unfailing one, epithet of Krishna)

Commentary

'O undegraded one! station my chariot between the two armies, while I observe those, who stand here desirous to engage in battle, and with whom, in the labours of this struggle, I must do battle.

Source: Alladi Mahadeva Sastri, The Bhagavad-Gita with the Commentary of Sri Shankaracharya (1897), public domain -- Shankara's commentary offers no independent gloss for this narrative verse; text is the literal translation.

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Sanskrit (in order)

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अर्जुनः उवाच
हृषीकेशम्
तदा
वाक्यम्
इदम्
आह
महीपते
सेनयोः उभयोः मध्ये
रथम्
स्थापय
मे
अच्युत

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