From the Bhagavad Gita
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When Krsna, in response to Arjuna's request, draws Arjuna's chariot between the opposing armies, Arjuna sees his relatives and friends assembled in the ranks of both armies. Seeing their militant spirit and foreseeing their imminent death, Arjuna is overwhelmed with grief and compassion and decides not to fight. Not yet understanding the higher purpose of the battle (that Krsna desires the demoniac armies annihilated), Arjuna analyzes the entire situation in terms of his own interests. He thus decides that he is not interested in achieving military victory and winning a kingdom at the expense of the lives of his friends and relatives and the welfare of society.
dear friend,arjuna never decided to leave the battle field. he was simply thinking to do so. he shared his views with LORD KRISHANA. HE removed his confusion regarding the reality of human relations. HE also told him that how can we get goal of yog by simply carrying out his dharma yudh .HE told him about the feelings too.
prabhu prasad shrimadbhagwadgita
in the Gita it says that arjuna gets paralyzed/shock mentally, he loosed his hero-ness when he sees who he will be battling. His teachers, old people, friends, and even family mmebers stand agianst his army, Ajuna feels depressed and decided not to fight but later on, Vishnu arrives as an avatar of Krishna one of the Gods to tell him not to change his caste duty. he is a Kshatriya and he has to fight and if you do not you will be placed into a very low caste. Krishna also mentions how does not have to feel bad about killing them because ether way, souls always stay alive and bodies are always left behind.
A cocise introduction to World Religions authors : Willard G oxtoby & Alan F. Segal
Chapter 1 Verse 32,33,34,35O Govinda, of what avail to us are kingdoms, happiness or even life itself when all those for whom we may desire them are now arrayed in this battlefield? O Madhusūdana, when teachers, fathers, sons, grandfathers, maternal uncles, fathers-in-law, grandsons, brothers-in-law and all relatives are ready to give up their lives and properties and are standing before me, then why should I wish to kill them, though I may survive? O maintainer of all creatures, I am not prepared to fight with them even in exchange for the three worlds, let alone this earth.