senayoḥ

हृषीकेशं तदा वाक्यमिदमाह महीपते

senayoḥ — armies

Bring the chariot to a stand between the two armies, unfailing one.

एवमुक्तो हृषीकेशो गुडाकेशेन भारत

senayoḥ — armies

Spoken to in this way by Arjuna, Krishna brought that magnificent chariot to a stand between the two armies,

तत्रापश्यत्स्थितान्पार्थः पितृ़नथ पितामहान्

senayoḥ — armies

And there Arjuna saw them standing — fathers, grandfathers, teachers, uncles, brothers, sons, grandsons, companions, fathers-in-law and friends, in both armies.

तमुवाच हृषीकेशः प्रहसन्निव भारत

senayoḥ — of the armies

And Krishna, as if smiling, said this to him — grieving there between the two armies.