Bhavavd geeta the feelings and philosophy http://swami.org/pages/swami/books/gita.php 

BHAGAVAD-GITA: ITS FEELING AND PHILOSOPHY
Hardcover, 615 pages, 5 1/2" X 8 1/2"
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The Bhagavad-gita is India's most concise expression of the perennial
philosophy. Speaking directly to the soul, it pinpoints the cause of all
suffering—material attachment—and offers a remedy to this common
human malady: the paths of right livelihood, mystic insight, devotion, and
ultimately unconditional love. In this edition, Swami B.V. Tripurari
comments on the Gita's philosophy in contemporary language, making it
both traditional and contemporary at once. Replete with original Devanagari
script, word for word transliteration, and English translation of the text,
Swami Tripurari's commentary brings to light the spiritual emotion of Krsna
and Arjuna as they discuss the nature of enlightened life. A timeless text of
inspired verse turns nearly narrative, gripping the reader in the story of the
Gita, one that sheds light on its esoteric significance by way of explaining it
in the context of Krsna's entire divine life.
“The most arresting new Gita to cross my desk in the past year…a kind of
postgraduate course in the cultural, metaphysical, and spiritual teachings
inherent in this ancient treasure.”
Phil Catalfo, Yoga Journal