arjunere - unto Arjuna; kahitechena - He is speaking; hita-upadeśa - good instruction; tāṅre - Him; dekhi' - seeing; haya - there is; mora - my; ānanda - transcendental happiness; āveśa - ecstasy.

“While seeing Lord Kṛṣṇa sitting in a chariot and instructing Arjuna, I am filled with ecstatic happiness.