Bg. 1.21-22

अर्जुन उवाच ।
सेनयोरुभयोर्मध्ये रथं स्थापय मेऽच्युत ॥२१॥
यावदेतान्निरीक्षेऽहं योद्धुकामानवस्थितान् ।
कैर्मया सह योद्धव्यमस्मिन् रणसमुद्यमे ॥२२॥

Text

arjuna uvāca
senayor ubhayor madhye
rathaṁ sthāpaya me ’cyuta

yāvad etān nirīkṣe ’haṁ
yoddhu-kāmān avasthitān
kair mayā saha yoddhavyam
asmin raṇa-samudyame

Synonyms

arjunaḥplugin-autotooltip__small plugin-autotooltip_bigarjunaḥ

Arjuna; by the name Kārtavīryārjuna; Kārtavīryārjuna.
—Arjuna; uvācaplugin-autotooltip__small plugin-autotooltip_biguvāca

answered; described; explained; he recited; he said; inquired; prayed; replied; said; she said; she spoke; spoke; talked with them.
—said; senayoḥplugin-autotooltip__small plugin-autotooltip_bigsenayoḥ

of armies; of the armies; of the two parties of soldiers.
—of the armies; ubhayoḥplugin-autotooltip__small plugin-autotooltip_bigubhayoḥ

between the two; both; of both (Candrāvalī and Rādhārāṇī); of both; of both Nanda Mahārāja and Vasudeva; of both of Us; of both parties; of both the parties; of the two; on both.
—of both the parties; madhyeplugin-autotooltip__small plugin-autotooltip_bigmadhye

among; amongst; between; between them; in; in between them; in the center; in the middle (between east and west); in the middle; in the midst; in the midst of; sometimes; toward; within; within the jurisdiction of Māhiṣmatī; within the midst.
—in between them; rathamplugin-autotooltip__small plugin-autotooltip_bigratham

a chariot; chariot; considered to be a chariot; his chariot; on the chariot; the chariot.
—the chariot; sthāpayaplugin-autotooltip__small plugin-autotooltip_bigsthāpaya

establishes; please keep.
—please keep; meplugin-autotooltip__small plugin-autotooltip_bigme

about me; by me; executed by me; for me; from Me; Me; mind; mine; my; my duty; myself; of me (Hiraṇyakaśipu); of me; of Mine; of Myself; on me; to Me; unto me; upon me; with me.
—my; acyutaplugin-autotooltip__small plugin-autotooltip_bigacyuta

Acyuta; against the Supreme Personality of Godhead; God; infallible; Kṛṣṇa; O infallible Kṛṣṇa; O infallible one; O my dear Kṛṣṇa; O my infallible Lord; O my Lord, O infallible one; O Supreme Personality of Godhead; of or about Kṛṣṇa, who never falls down; of the infallible; of the infallible Lord; of the Lord; of the Supreme Personality of Godhead; the infallible (Lord Śrī Kṛṣṇa); the infallible; the infallible Lord; to Acyuta; to the Supreme Personality of Godhead.
—O infallible one; yāvatplugin-autotooltip__small plugin-autotooltip_bigyāvat

as; as far; as far as; as far as possible; as high as; as it is; as it may be; as long as; as long or as far as; as much as; during; just as; minimum; so long; so long as; so much as; the whole; until; until the time; whatever; when; while.
—as long as; etānplugin-autotooltip__small plugin-autotooltip_bigetān

all of them; all these; all these soldiers of the demigods; all this; these; those who are attached to Kṛṣṇa; unto them.
—all these; nirīkṣeplugin-autotooltip__small plugin-autotooltip_bignirīkṣe

may look.
—may look; ahamplugin-autotooltip__small plugin-autotooltip_bigaham

as far as I am concerned; as I am; egotism; false ego; false identification (in the bodily concept of life); false identity; I ("I am this body"); I (am); I (Kṛṣṇa); I (Lord Brahmā); I (Lord Śiva); I (Prahlāda Mahārāja); I (the person desiring release from material life); I (Śukadeva Gosvāmī); I; I am; I am everything; I am independent; I am the material body; I myself; I, Lord Kṛṣṇa; I, the Personality of Godhead; I, the Supreme Personality of Godhead; I, Yamarāja; me; my existence ("I am something"); my humble self; myself (Brahmājī); Myself; the word aham; the wrong mental conception.
—I; yoddhuplugin-autotooltip__small plugin-autotooltip_bigyoddhu

desiring to fight.
-kāmānplugin-autotooltip__small plugin-autotooltip_bigkāmān

all desirable things; all desirables; all desires; all enjoyment; all material desires; all material desires for sense gratification; anything desirable; desired enjoyable objects; desired necessities; desired objects; desires; desires for sense gratification; in regard to lusty desires; material desires; material enjoyment; objects for sense enjoyment; objects of enjoyment; sense gratification; so desiring; the necessities of life; things for sense gratification.
—desiring to fight; avasthitānplugin-autotooltip__small plugin-autotooltip_bigavasthitān

arrayed on the battlefield; situated.
—arrayed on the battlefield; kaiḥplugin-autotooltip__small plugin-autotooltip_bigkaiḥ

by their heads; by which; with whom.
—with whom; mayāplugin-autotooltip__small plugin-autotooltip_bigmaya

consisting of; made of; O Maya.
—by me; sahaplugin-autotooltip__small plugin-autotooltip_bigsaha

accompanied; all together; along with; also with; simultaneously; with; with her.
—with; yoddhavyamplugin-autotooltip__small plugin-autotooltip_bigyoddhavyam

to fight with.
—to fight with; asminplugin-autotooltip__small plugin-autotooltip_bigasmin

during this period (one day of Brahmā); for Him (the Supreme Lord); for Lord Kṛṣṇa; herein; in the chain of; in the matter; in them; in this; in this body; in this cow shed; in this form of; in this world; on this; on this path of sense enjoyment; on this planet earth; this; this very life; to this body; unto Kṛṣṇa; up till now; when this; within this.
—in this; raṇaplugin-autotooltip__small plugin-autotooltip_bigraṇa

fight; strife.
—strife; samudyameplugin-autotooltip__small plugin-autotooltip_bigsamudyame

in the attempt.
—in the attempt. 

Translation

Arjuna said: O infallible one, please draw my chariot between the two armies so that I may see who is present here, who is desirous of fighting, and with whom I must contend in this great battle attempt. 

Purport

Although Lord Kṛṣṇa is the Supreme Personality of Godhead, out of His causeless mercy He was engaged in the service of His friend. He never fails in His affection for His devotees, and thus He is addressed herein as infallible. As charioteer, He had to carry out the orders of Arjuna, and since He did not hesitate to do so, He is addressed as infallible. Although He had accepted the position of a charioteer for His devotee, His supreme position was not challenged. In all circumstances, He is the Supreme Personality of Godhead, Hṛṣīkeśa, the Lord of the total senses. The relationship between the Lord and His servitor is very sweet and transcendental. The servitor is always ready to render a service to the Lord, and, similarly, the Lord is always seeking an opportunity to render some service to the devotee. He takes greater pleasure in His pure devotee’s assuming the advantageous postion of ordering Him than He does in being the giver of orders. As master, everyone is under His orders, and no one is above Him to order Him. But when he finds that a pure devotee is ordering Him, He obtains transcendental pleasure, although He is the infallible master of all circumstances. 

As a pure devotee of the Lord, Arjuna had no desire to fight with his cousins and brothers, but he was forced to come onto the battlefield by the obstinacy of Duryodhana, who was never agreeable to any peaceful negotiation. Therefore, he was very anxious to see who the leading persons present on the battlefield were. Although there was no question of a peacemaking endeavor on the battlefield, he wanted to see them again, and to see how much they were bent upon demanding an unwanted war.