I have been studying a translation and commentary of the Yoga Sutras by Edwin F. Bryant. I think I probably have about 15 different translations, some with commentaries, but this is the absolute best that I have come across (IMONSHO )
He draws on all of the ancient and accepted commentaries, and rather than "dumbing down" as many do, or the opposite, using language only a scholar understands...he presents a lucid take...I'll be studying this one for a lifetime. While this takes a commitment to study, one need not be an egghead nerd (like moiself) in order to read and understand it.
It gives a good bit of history, and the anthropology of Yoga as well.