यच्चावहासार्थमसत्कृतोऽसि विहारशय्यासनभोजनेषु।एकोऽथवाप्यच्युत तत्समक्षं तत्क्षामये त्वामहमप्रमेयम्॥
yac cāvahāsārtham asat-kṛto ’sivihāra-śayyāsana-bhojaneṣueko ’tha vāpy acyuta tat-samakṣaṃtat kṣāmaye tvām aham aprameyam
Word by word
The verse says
And if I was disrespectful to you as a joke, while we were resting or sitting or eating, alone or in front of others — I ask you to forgive it, you who cannot be measured.
In plain words
The list is deliberately ordinary.
Vihāra-śayyāsana-bhojaneṣu — at play, lying down, sitting, eating.
These are not religious occasions. These are the places two friends actually spend time, and he is going back through all of them.
Where you've felt this · in friendship
A close friend moves abroad for good. You sit up late that week going through everything you ever said to her, looking for what you would take back. Most of it was fine. A few things were not. The review is not useful, and nobody has ever managed to skip it.
Going deeper
Going back through an ordinary friendship looking for offences is what happens when somebody's status changes in your eyes, and it is rarely as necessary as it feels.
Arjuna is reviewing meals and afternoons. Nothing he finds is serious — jokes, a lack of ceremony, the sort of disrespect that is a form of closeness. He asks forgiveness for all of it anyway, because he no longer trusts his own judgement about what was appropriate.
The response he gets, two verses later, is the thing worth waiting for. Krishna does not say he was right to worry, and does not grant a pardon.
What the chapter is working toward is the possibility that the familiarity was not an error at all. But Arjuna cannot get there on his own, and the fact that he has to ask — and that asking is the only way through — is the point of putting these two verses where they are.