The Bhagavad Gita is venerated not because its another storybook / book of rules, but as a treatise on metaphysics.
Sri Aurobindo‘s Essays on the Gita along with the English Translation booklet has been published here.
Our booklet can be had from samatabooks.in along with their version by Sri Shankaracharya.
Swami Paramarthananda’s Gita Classes used to feature on YieldMore but are now available from arshaavinash.in. Below is Swami Dayanand Saraswati‘s recording set to Sri Aurobindo’s translation at Amadeus.
If reciting on your own each day, do remember to invoke the Gods by first reciting this Gita Dhyanam (audio from Chinmaya Mission)