The Essential Verses of Bhagavad Gita as taught by Swami Dayananda of Arsha Vidya can be found in the following link:

http://www.avgsatsang.org/hhpsds/pdf/Ten_Essential_Verses_of_BG.pdf

श्रीभगवानुवाच

अशोच्यानन्वशोचस्त्वं प्रज्ञावादांश्च भाषसे ।

गतासूनगतासूंश्च नानुशोचन्ति पण्डिताः ॥२- ११॥

śrībhagavān uvāca: aśocyān anvaśocas tvaṁ prajñāvādāṁś ca bhāṣase
gatāsūn agatāsūṁś ca nā ’nuśocanti paṇḍitāḥ 2.11

śrībhagavān uvāca: aśocyān¹ anvaśocaḥ² tvam³ prajñāvādān⁴ ca⁵ bhāṣase⁶
gata⁷ asūn⁸ agata⁹ asūn¹⁰ ca¹¹ na¹² anuśocanti¹³ paṇḍitāḥ¹⁴

śrībhagavān uvāca  = Sri Bhagavan said; tvam³ = you; anvaśocaḥ² = grieve; [for] aśocyān¹ = him, not worthy of grievance; ca⁵ = and; bhāṣase⁶ = you speak; prajñāvādān⁴ = words of wisdom. paṇḍitāḥ¹⁴ = men of wisdom; na¹² anuśocanti¹³ = do not grieve for; gata⁷ asūn⁸ = the dead (= gone life, the [dear] departed; the ones in whom life departed); ca¹¹ = and; agata⁹ asūn¹⁰ = agata asūn = the living (= not gone life, the ones not yet dead, the living).

2.11: Sri Bhagavan (Krishna) said: You grieve for those worth not grieving for, yet you speak words of wisdom. The panditah (learned men) grieve neither for the dead nor for the living.

वेदाविनाशिनं नित्यं य एनमजमव्ययम् ।

कथं स पुरुषः पार्थ कं घातयति हन्ति कम् ॥२- २१॥

vedā ’vināśinaṁ nityaṁ ya enam ajam avyayam
kathaṁ sa puruṣaḥ pārtha kaṁ ghātayati hanti kam 2.21

vedā¹ avināśinam² nityam³ yaḥ⁴ enam⁵ ajam⁶ avyayam⁷
katham⁸ saḥ⁹ puruṣaḥ¹⁰ pārtha¹¹ kam¹² ghātayati¹³ hanti¹⁴ kam¹⁵

yaḥ⁴ = He who; vedā¹ = knows; enam⁵ = this [the soul]; [as] avināśinam² =  indestructible;  nityam³ = eternal; ajam⁶ = devoid of birth, birthless, unborn; avyayam⁷ = decayless. katham⁸ = how, in what manner, whence; [and] kam¹² = whom; saḥ⁹ = he, that man; puruṣaḥ¹⁰ = man, person [that highest spiritual person]; hanti¹⁴ = kills; [or] ghātayati¹³ = instigates others to kill; kam¹⁵ = whom;  pārtha¹¹ = O Arjuna.  2.21

2.21: How can a human being, who knows that this Soul is indestructible, eternal, immutable, and unborn, O Partha (Arjuna), think that he could kill or cause anyone to kill?

श्रीभगवानुवाच

प्रजहाति यदा कामान्सर्वान्पार्थ मनोगतान् ।

आत्मन्येवात्मना तुष्टः स्थितप्रज्ञस्तदोच्यते ॥२- ५५॥

śrībhagavān uvāca: prajahāti yadā kāmān sarvān pārtha manogatān
ātmany evā ’tmanā tuṣṭaḥ sthitaprajñas tadocyate 2.55

śrībhagavān uvāca: prajahāti¹ yadā² kāmān³ sarvān⁴ pārtha⁵ manaḥ-gatān⁶
ātmani⁷ eva⁸ ātmanā⁹ tuṣṭaḥ¹⁰ sthita-prajñaḥ¹¹ tadā¹² ucyate¹³ 

śrībhagavān uvāca = Sri Bhagavan said: pārtha⁵ = O Partha, Arjuna: yadā² = when; prajahāti¹ = [one] relinquishes in full; kāmān³ sarvān⁴ = a whole slew⁴ of desires³; [that] manaḥ-gatān⁶ = have gone into the mind; tuṣṭaḥ¹⁰ = remains pleased;  ātmani⁷ = in his self; eva⁸ = alone; ātmanā⁹ = by his self;  tadā¹² = at that time; [he] ucyate¹³ = is identified as; sthita-prajñaḥ¹¹= one with steady wisdom. 2.55 

2.55: Sri Bhagavan said:

O son of Partha, When a man completely sheds the desires of his mind, and finds satisfaction in the self by the self, he is steady in wisdom.

मया ततमिदं सर्वं जगदव्यक्तमूर्तिना ।

मत्स्थानि सर्वभूतानि न चाहं तेष्ववस्थितः ॥९- ४॥

mayā tatam idaṁ sarvaṁ jagad avyaktamūrtinā
matsthāni sarvabhūtāni na cāhaṁ teṣv avasthitaḥ 9.4

mayā¹ tatam² idam³ sarvam⁴ jagat⁵ avyakta-mūrtinā⁶
matsthāni⁷ sarva-bhūtāni⁸ na⁹ ca¹⁰ aham¹¹ teṣu¹² avasthitaḥ¹³ 9.4

idam³ = This; sarvam⁴ = entire; jagat⁵ = world, universe; tatam² = is pervaded; mayā¹ = by My; avyakta-mūrtinā⁶ = unmanifest form. sarva-bhūtāni⁸ = All beings; matsthāni⁷ = exist in Me; ca¹⁰ = and; aham¹¹ =I; na⁹ = do not; avasthitaḥ¹³ = exist; teṣu¹² =  in them.  9.4

9.4:  This entire universe is pervaded with My unmanifest form (Avyakta-mūrtina). All beings abide in Me and I do not abide in them. (All beings are dependent on Me and I do not depend on them)

श्रीभगवानुवाच 

लोकेऽस्मिन्द्विविधा निष्ठा पुरा प्रोक्ता मयानघ ।

ज्ञानयोगेन सांख्यानां कर्मयोगेन योगिनाम् ॥३- ३॥

śrībhagavān uvāca
lokesmin dvividhā niṣṭhā purā proktā mayānagha
jñānayogena sāṅkhyānāṁ karmayogena yoginām 3.3

śrībhagavān uvāca
loke¹ asmin² dvi-vidhā³ niṣṭhā⁴ purā⁵ proktā⁶ mayā⁷ anagha⁸
jñāna-yogena⁹ sāṅkhyānām¹⁰ karma-yogena¹¹ yoginām¹²  

śrībhagavān = Sri Bhagavan (Krishna); uvāca = said: anagha⁸= O Stainless one, O faultless one; dvi-vidhā³ = two kinds of ; niṣṭhā⁴ = Nishtai, steadfast application;  loke¹ asmin² = in this world; proktā⁶ = was said;  purā⁵ = in the past;  mayā⁷ =  by Me:  jñāna-yogena⁹ = by Jnana Yoga, Yoga of Knowledge; sāṅkhyānām¹⁰ = for Sankhya Yogi; karma-yogena¹¹ = Karma Yoga; yoginām¹² = for the Karma Yogi. 3.3

3.3: Sri Bhagavan said: In this world, as said before by me, O sinless One, there are two-fold (two) paths, Jnāna yoga (Yoga of knowledge) for men of contemplation (Sankhya Yogi) and Karma yoga (Yoga of action) for men of action (Karma Yogi).　　

Work without Concern for the Results (RKN)

कर्मण्येवाधिकारस्ते मा फलेषु कदाचन ।

मा कर्मफलहेतुर्भूर्मा ते सङ्गोऽस्त्वकर्मणि ॥२- ४७॥

karmaṇy evā ’dhikāras te mā phaleṣu kadācana
mā karmaphalahetur bhūr mā te saṅgo 'stv akarmaṇi 2.47

karmaṇi¹ eva² adhikāraḥ³ te⁴ mā⁵ phaleṣu⁶ kadācana⁷
mā⁸ karma⁹ phala¹⁰ hetuḥ¹¹ bhūḥ¹² mā¹³ te¹⁴ saṅgaḥ¹⁵ astu¹⁶ akarmaṇi¹⁷ 

te⁴ = your; adhikāraḥ³ = right, obligation; karmaṇi¹ eva² = is for action; mā⁵ = never;  kadācana⁷= under any circumstances; phaleṣu⁶ = for the results, in the fruits; mā⁸ = never; bhūḥ¹² = become;  karma⁹ phala¹⁰ hetuḥ¹¹ = the reason or agent for claiming the fruit of action [action⁹-fruit¹⁰-cause or agent¹¹]; mā¹³   te¹⁴  astu¹⁶ = (you) may not have; saṅgaḥ¹⁵ = attachment, inclination;  [to]  akarmaṇi¹⁷= inaction.  2.47 

2.47: You have a right to action and never to its fruits. At no time should your motive be the fruit of your actions. Never should there be any attachment to inaction either.

यतः प्रवृत्तिर्भूतानां येन सर्वमिदं ततम् ।

स्वकर्मणा तमभ्यर्च्य सिद्धिं विन्दति मानवः ॥१८- ४६॥

yataḥ pravṛttir bhūtānāṁ yena sarvam idaṁ tatam
svakarmaṇā tam abhyarcya siddhiṁ vindati mānavaḥ 18.46

yataḥ¹ pravṛttiḥ² bhūtānām³ yena⁴ sarvam⁵ idam⁶ tatam⁷
svakarmaṇā⁸ tam⁹ abhyarcya¹⁰ siddhim¹¹ vindati¹² mānavaḥ¹³ 18.46

[By doing] svakarmaṇā⁸ = his own duties; [and] abhyarcya¹⁰ = by worshipping; tam⁹ = Him; yataḥ¹ = from whom; pravṛttiḥ² = manifestation; [of] bhūtānām³ = all beings; [arises]  yena⁴ = by whom; sarvam⁵ = all; idam⁶ = this; tatam⁷ = is pervaded; mānavaḥ¹³ = a man; vindati¹² = attains; siddhim¹¹ = perfection/success.18.46

18.46: By worshipping Him, from Whom all beings arise, and Who pervades all this, and by doing his own duties, man attains perfection.

संन्यासस्तु महाबाहो दुःखमाप्तुमयोगतः ।

योगयुक्तो मुनिर्ब्रह्म नचिरेणाधिगच्छति ॥५- ६॥

saṁnyāsas tu mahābāho duḥkham āptum ayogataḥ
yogayukto munir brahma nacireṇādhigacchati 5.6

sannyāsaḥ¹ tu² mahābāho³ duḥkham⁴ āptum⁵ ayogataḥ⁶
yoga-yuktaḥ⁷ muniḥ⁸ brahma⁹ na¹⁰ cireṇa¹¹ adhigacchati¹²   5.6

tu² = But;  sannyāsaḥ¹ = renunciation; ayogataḥ⁶ = without yoga; mahābāho³ = O Mighty-armed one; [is] duḥkham⁴ = difficult;  āptum⁵ = to attain.  yoga-yuktaḥ⁷ = He who practices Karma-Yoga; [being]  muniḥ⁸ = the Muni [the silent one, the meditative sage]; adhigacchati¹²  =  attains¹²  brahma⁹ = Brahman; na¹⁰ cireṇa¹¹ = without¹⁰ delay¹¹.  5.6

5.6: But renunciation without karma yoga, O Mighty armed one, causes is difficult to attain. One engaged in karma yoga is a munih or sage and attains Brahman without any delay.

सर्वकर्माणि मनसा संन्यस्यास्ते सुखं वशी ।

नवद्वारे पुरे देही नैव कुर्वन्न कारयन् ॥५- १३॥

sarvakarmāṇi manasā saṁnyasyāste sukhaṁ vaśī

navadvāre pure dehī naiva kurvan na kārayan 5.13

sarva¹ karmāṇi² manasā³ sannyasya⁴ āste⁵ sukham⁶ vaśī⁷

nava-dvāre⁸ pure⁹ dehī¹⁰ na¹¹ eva¹² kurvan¹³ na¹⁴ kārayan¹⁵   5.13

dehī¹⁰ = The embodied soul; [and]  vaśī⁷ = self-controlled man; sannyasya⁴ = renouncing; sarva¹ karmāṇi² = all activities; manasā³ = mentally;  āste⁵ = remains; sukham⁶ = in happiness; [in] nava-dvāre⁸ pure⁹ = the nine gates⁸ city⁹ [body has nine openings]; na¹¹ eva¹² kurvan¹³  = neither¹¹ really¹² doing any work¹³; na¹⁴ kārayan¹⁵ = nor¹⁴ causing any work¹⁵.   5.13

5.13: The embodied soul, while controlling all his activities, renouncing them in his mind, and remaining in happiness in the city of nine gates, neither works nor causes any work. 

सर्वधर्मान्परित्यज्य मामेकं शरणं व्रज ।

अहं त्वां सर्वपापेभ्यो मोक्षयिष्यामि मा शुचः ॥१८- ६६॥

sarvadharmān parityajya mām ekaṁ śaraṇaṁ vraja
ahaṁ tvā sarvapāpebhyo mokṣyayiṣyāmi mā śucaḥ 18.66

sarva-dharmān¹ parityajya² mām³ ekam⁴ śaraṇam vraja⁵
aham⁶ tvām⁷ sarva-pāpebhyaḥ⁸ mokṣyayiṣyāmi⁹ ma¹⁰ śucaḥ¹¹ 18.66

parityajya² = abandoning; sarva-dharmān¹ = all duties; śaraṇam vraja⁵  = take refuge; mām³ = in Me; ekam⁴ = only/alone .  aham⁶ = I; mokṣyayiṣyāmi⁹ = shall deliver; tvā⁷ = you; sarva-pāpebhyaḥ⁸ = from all sins.  ma¹⁰ = do not; śucaḥ¹¹ = worry.18.66

18.66:  Abandoning all duties, surrender unto Me only. I shall deliver you from all sins. Do not lament.