Ramanuja's Commentary
Arjuna was explaining: How can I slay respected and venerable teachers such as Bhishma and Drona? The pleasures of the kingdom they are ruling in our stead, how can I better enjoy by eliminating them? Pleasures and enjoyments dripping with their blood. Let it be that we prepared for war and then reconsidering abstained; or let the army of Dhritarastra put a violent end to us. It seems to me to be more honourable to be killed by those not knowing right or wrong, then an unjust victory obtained by our destroying them.
After speaking thus, Arjuna most humbly and reverently approached the feet of Lord Krishna and appealed to Him asking: What is in my best interests to do? I am your disciple and surrendered to you. Please deign to instruct me.
Understanding that Arjuna was in delusion due to inappropriate sentiments of compassion and friendship and finding him under the misconception in thinking that to fight a lawful ksatriya war was against the principles of righteousness and seeing that he was also sincerely desiring to know what was righteousness; the Supreme Personality, Lord Krishna, the possessor of all opulence, to dispel Arjunas delusion, imparted to him complete knowledge of the soul and then he instructed him in karmas or performance of action as a matter of duty without any desire for fruitive results which in itself constitutes the means of self-realisation and thus in this manner Srimad Bhagavad-Gita was introduced for the benefit of all living entities by the mercy of the Supreme Lord Krishna.
It was to this precise verse that Sri Yamunacarya the guru of Ramanuja paid tribute to in the fifth stanza of his composition Gitartha-Sangraha which is given below:
Bhagavad-Gita spoke to Arjun whose refuge he indeed sought,
Fearing what was right or wrong by misplaced love and pity fraught.