Bhagavad Gita · 11.42

यच्चावहासार्थमसत्कृतोऽसिविहारशय्यासनभोजनेषु।एकोऽथवाप्यच्युत तत्समक्षंतत्क्षामये त्वामहमप्रमेयम्॥

yach chāvahāsārtham asat-kṛto 'si vihāra-śhayyāsana-bhojaneṣhu eko 'thavāpy achyuta tat-samakṣhaṁ tat kṣhāmaye tvām aham aprameyam

In whatever way I may have disrespected you — while joking, resting, sitting, or eating, whether alone or in the presence of others — I beg your forgiveness, O immeasurable one.

— Bhagavad Gita 11.42

Source: Sacred-Texts.com (Sanskrit) + Bhagavad-Gita.io (translations)