In plain words
Entering asuric wombs birth after birth, the deluded do not reach Me, son of Kunti, but sink to an even lower state.
Word for word
Having entered āsurī wombs, deluded birth after birth, never reaching Me, O Kaunteya, they go from there to a lower state.
आसुरीं योनिमापन्ना मूढा जन्मनि जन्मनिमामप्राप्यैव कौन्तेय ततो यान्त्यधमां गतिम्
Other commentaries
The commentators
▸Bhagavadgītābhāṣyam· bhāṣya
आसुरीं योनिम् आपन्नाः प्रतिपन्नाः मूढाः अविवेकिनः जन्मनि जन्मनि प्रतिजन्म तमोबहुलास्वेव योनिषु जायमानाः अधो गच्छन्तो मूढाः माम् ईश्वरम् अप्राप्य अनासाद्य एव हे कौन्तेय, ततः तस्मादपि यान्ति अधमां गतिं निकृष्टतमां गतिम् । ‘माम् अप्राप्यैव’ इति न मत्प्राप्तौ काचिदपि आशङ्का अस्ति, अतः मच्छिष्टसाधुमार्गम् अप्राप्य इत्यर्थः ॥ २० ॥
In plain words
Falling, entering, a demonic womb, over and over -- these are the deluded ones, without any real discernment -- birth after birth, in every single lifetime, born into wombs steeped in darkness, sinking lower and lower, never reaching Me, the Lord, never arriving -- and so, Arjuna, from that very failure, they descend to the lowest state there is, the most degraded condition possible. And 'not attaining Me' does not mean there is any real doubt about whether I can be reached -- there is not, not the slightest -- it means, rather, not attaining the good path that I myself have taught.
Close to the Sanskrit
Having attained, i.e. entered, a demonic womb -- the deluded, undiscriminating ones -- in birth after birth, i.e. in every birth, being born in wombs abounding in darkness -- going downward, the deluded ones, not attaining Me, the Lord -- i.e. not reaching [Me] -- O Kaunteya, from that indeed, they go to the lowest condition, the most degraded state. '[Without] attaining Me' -- there is no doubt whatsoever about attaining Me; therefore [the meaning is] 'without attaining the good path taught by Me' -- that is the meaning.