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तस्मादज्ञानसम्भूतं हृत्स्थं ज्ञानासिनात्मनः ।
छित्त्वैनं संशयं योगमातिष्ठोत्तिष्ठ भारत ॥४-४२॥

tasmaadadnyaanasambhootaM hRRitsthaM dnyaanaasinaatmanaH ।

ChittwainaM saMshayaM yogamaatiShThottiShTha bhaarata ॥४-४२॥

Source: Automatic ITRANS Transliteration

Therefore, ignorance forming in your heart, with the sword of self knowledge
Cutting off these doubts, taking refuge in yoga, arise, O scion of Bharat.

Therefore, O scion of Bharat, though ignorance forms in your heart, arise, cutting off these doubts with the sword of self knowledge and taking refuge in yoga.

Source: Milind S. Pandit

Therefore, resort to Karma-yoga and cut the ignorance-born doubt abiding in your heart by the sword of Self-knowledge, and get up (to fight), O Arjuna.

Source: The Bhagavad-Gita: The Sacred Song

Therefore the doubts which have arisen in your heart out of ignorance should be slashed by the weapon of knowledge. Armed with yoga, O Bharata, stand and fight.

Source: Bhagavad Gita As It Is