In plain words
Why these worries over family ties for me? Why do You grant me these hardships?” Then Kṛṣṇa laughed. Arjuna! It is true that you have seated Me on your chariot. But you have seated Me on the outer chariot; why should you not seat Me in the chariot of your heart? The outer one is a yantra. The inner one is a mantra. I am the very form of the mantra, not the form of the yantra. You think that you remember Me all the time.
Not smaraṇa: practise anusmaraṇa
Mām anusmarayudhya ca: that is, you practise smaraṇa, but you do not practise anusmaraṇa. Smaraṇa has its time, its rule, its place. But anusmaraṇa is sarvadā, sarvakāleṣu. Sarvatra haricintanam. So only when you experience such anusmaraṇa can you recognise My divinity. These worldly troubles will not touch you at all. Mām anusmarayudhya ca: in war too, remember Me alone. When you remember in this way, you will have no troubles of any kind.
Swami! I am an ordinary family man. When I am going through such trials with wife and children, with property and possessions, with the desire for a kingdom, how is “anusmaraṇa”, remembering You without a break, possible? “These are your duties. But you need not give them up. Go on fulfilling your duties: your wife and children, your property and possessions. This is the duty God has given you. Go on fulfilling the duty He has given. Even while you do these things, believe them to be God's prasāda. Only when you hold the right thought in this way will you recognise what is called divinity, and these troubles will not touch you in the least,” He said.