The Bhagavad Gita has been translated into Western languages numerous times.
Juan Mascaro has done a poet translation, after years of studying Sanskrit. The result is not just beautiful, but also a good introduction to the text.
Full review including quotes: The Bhagavad Gita, Juan Mascaro translation
Just quotes: Bhagavad Gita on Karma.
Buy now: The Bhagavad Gita (Penguin Classics)