BG Chap 11 - Viśvarūpa darśana yoga
Although Kṛṣṇa is driving Arjuna’s chariot, He pervades and supports the entire universe. Arjuna therefore wishes to see Kṛṣṇa’s all pervading form. On seeing the universal form, Arjuna praises it in reverence. When Kṛṣṇa shows His original form again, it gives bliss to Arjuna and he becomes pleased. Hearing that Kṛṣṇa pervades the entire universe by one of His plenary portions (aṁśa), who is the shelter of all the vibhūtis, the puruṣa who creates the mahat-tattva, Mahā-Viṣṇu, Arjuna became submerged in the highest bliss and desired to see that form. Arjuna is very enlightened and is glad that he has such a great friend as Kṛṣṇa, but now he is thinking that although he may accept Kṛṣṇa as the source of everything, others may not. So in order to establish Kṛṣṇa's divinity for all, he is requesting Kṛṣṇa in this chapter to show His universal form.