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Chapter 4, Verse 42

तस्मादज्ञानसंभूतं हृत्स्थं ज्ञानासिनाऽऽत्मनः। छित्त्वैनं संशयं योगमातिष्ठोत्तिष्ठ भारत।।4.42।।

tasmādajñānasaṃbhūtaṃ hṛtsthaṃ jñānāsinā''tmanaḥ. chittvainaṃ saṃśayaṃ yogamātiṣṭhottiṣṭha bhārata..4.42..

Word by word

tasmāt
therefore
ajñāna-sambhūtam
born of ignorance
hṛt-stham
situated/residing in the heart
jñāna-asinā
with the sword of knowledge
ātmanaḥ
of/belonging to the self
chittvā
having cut/severed
enam
this
saṃśayam
doubt
yogam
in yoga (discipline of action)
ātiṣṭha
take your stand / resort to
uttiṣṭha
arise / stand up
bhārata
O descendant of Bharata (Arjuna)

Commentary

42. Therefore with the sword of wisdom cleave asunder this doubt of the Self lying in the heart and born of ignorance, and resort to Yogat Arise, O Bharata.

Source: Alladi Mahadeva Sastri, The Bhagavad-Gita with the Commentary of Sri Shankaracharya (1897), public domain

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Sanskrit (in order)

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tasmāt
ajñāna-sambhūtam
hṛt-stham
jñāna-asinā
ātmanaḥ
chittvā
enam
saṃśayam
yogam
ātiṣṭha
uttiṣṭha
bhārata

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