तस्मात्प्रणम्य प्रणिधाय कायं प्रसादये त्वामहमीशमीड्यम्।पितेव पुत्रस्य सखेव सख्युः प्रियः प्रियायार्हसि देव सोढुम्॥
tasmāt praṇamya praṇidhāya kāyaṃprasādaye tvām aham īśam īḍyampiteva putrasya sakheva sakhyuḥpriyaḥ priyāyārhasi deva soḍhum
Word by word
The verse says
So I bow down, I lay my body before you, and I ask you for your kindness, lord worth praising. As a father bears with a son, as a friend with a friend, as a lover with the one he loves — bear with me, god.
In plain words
Three comparisons, and they are the warmest words in the book.
Piteva putrasya sakheva sakhyuḥ priyaḥ priyāyāḥ — as a father with a son, a friend with a friend, a lover with the beloved.
After all of it, this is what he asks for: not to be forgiven, but to be put up with.
Where you've felt this · in family life
You lose your temper with your brother at a family gathering over something small, in front of everybody. The next morning he hands you a cup of tea without mentioning it. Nothing has been discussed. The arrangement you have simply absorbed it, as it has absorbed worse.
Going deeper
Arjuna does not ask to be forgiven. He asks to be borne with, and the difference between those is the resolution of the whole chapter.
Forgiveness would imply the friendship had been an offence requiring a pardon. What he asks for instead is tolerance of the kind that is already built into close relationships — a father with a son, a friend with a friend. Those relationships do not operate by clearing accounts. They absorb things.
So the answer to his worry in verse 41 turns out to be that the familiarity was not a mistake. It is being offered back to him as the model.
That is the emotional centre of the Gita and it is easy to read past in a chapter this loud. Everything that frightened him remains true. Time is still what it is, and the men on the field are still going. And the relationship that existed before the vision is the one being asked for again, in the same terms, by the man who has now seen what he is in a relationship with.