यच्चावहासार्थमसत्कृतोऽसि विहारशय्यासनभोजनेषु। एकोऽथवाप्यच्युत तत्समक्षं तत्क्षामये त्वामहमप्रमेयम् ॥

yach chāvahāsārtham asat-kṛito ’si vihāra-śhayyāsana-bhojaneṣhu eko ’tha vāpy achyuta tat-samakṣhaṁ tat kṣhāmaye tvām aham aprameyam

If jesting I irreverence showed to Thee, At play, reposing, sitting or at meals, Alone, O sinless One, or with my friends, Forgive my error, O Thou boundless One.

In plain words: Arjuna asks forgiveness for any time he joked with Krishna or showed him disrespect. This includes while playing, resting, sitting, eating, alone or with friends.