In plain words
Embodiments of Prema! In every age God descends in human form to establish Dharma. But, “How is He born? In what way is He born? Does He come forth from a mother's womb, as we do? Or does He arise by His own will?”: this doubt comes to some people. But before He descends, God Himself chooses the parents He is to have. People say, ‘God was born.’ True, He was born with a human body. So for every task He uses that very body. This same thing happens in every age.
In the Dvāpara Yuga, Kṛṣṇa Paramātma moved with the Pāṇḍavas as friend, kinsman, guru and God, and kept protecting them from the treacherous schemes of the Kauravas. At the time of the Mahābhārata war He Himself drove Arjuna's chariot and brought the Pāṇḍavas victory. After the war He said He would go to Dvārakā and come back. He asked one of the Pāṇḍavas to come with Him as company. ‘Kṛṣṇa! Take Your friend Arjuna along with You,’ said Kuntī. Kṛṣṇa took Arjuna with Him to Dvārakā. There He Himself, in person, arranged every kind of comfort for him. Arjuna, abashed: ‘Kṛṣṇa! Here I am, having You serve me!’ he said. Then Kṛṣṇa: “Arjuna! You are badly mistaken. Who are you? Whose do you think your body is? It is not yours; it is Mine! I alone am the protector of all beings. But you have become infatuated with the body, and so you are mistaken.
The body is made of the five elements; the body must fall, sooner or later; the indweller is free from every ill; consider it well: for the indweller, death and birth, the marks of the bonds that delusion binds, there are none, if you look at the truth; that indweller is the God of gods; consider it in your mind: He is the Ātma Himself.
The indweller alone is the God of gods. That alone is ‘I’. But you say ‘I’ out of attachment to the body. The body is not you. As long as one takes the body for the self, the jīva remains only a jīva; the moment the sense of the body as the self falls away, he becomes the Paramātma.