translations of the Bhagavad Gita

An old friend was talking with C and me lately, and she expressed an interest in learning more about the ideas behind yoga, and particularly about the Bhagavad Gita. I'd like to give her a copy, but I'm looking for a good translation. What I think would suit her is one that takes advantage of modern scholarship to be faithful to the original text, but that's aimed not at scholars or philosophers but at general readers, and is written in straightforward language. C suggests trying the Penguin edition, but I'd be happy to get other recommendations.