There are several good ones. I think starting with Vivdekananda's translation and commentary in the last half of Raja Yoga is maybe the best place to start, because it integrates with the rest of the book so well.
I started translating it myself in the mid-'90s, and only go a short way before abandoning it and starting over. The most distinctive result of that is Chapter 4 in Pearls of Wisdom, which is more or less my commentary on my translation of the first verse.
Love is the law, love under will.
Yours in L.V.X.,
Jim Eshelmanwww.jeshelman.com"Success is thy proof: argue not; convert not; talk not overmuch!" - CCXX 3:42