Jagadguru Shree Kripalu Ji Maharaj explained the essence of the Gita in all of his lectures and writings. In the book Prem Ras Siddhant, he has quoted over 100 verses of the Gita and explained them in relation to the statements of the Vedas/Upnishads, Puranas and Darshan Shastras. This is the proper way to learn the philosophy of the Gita, because it gives a broader context for the meaning of the verses and helps you understand how to practically apply it in your life. Hence, there is absolutely no need to study the Gita verse by verse.