Following Dirac's generalized canonical formalism, we develop a quantization scheme for theN-dimensional system described by the Lagrangian $L_0 (\dot y,y) = \frac{1}{2}h_{ij} (y)\dot y^i \dot y^j + b_i (y)\dot y^i - w(y)$ which is supposed to be invariant under the gauge transformation $y^i \to y\prime ^i = y^i + (\rho ^i _\alpha + \sigma ^i _{\alpha j} \dot y^j )\delta \Lambda ^\alpha + \tau ^i _\alpha \delta \dot \Lambda ^\alpha$ . The gauge invariance necessarily implies that the Lagrangian is singular. (...) The identities imposed by the gauge invariance are enumerated and reduced to simpler forms. There are primary and secondary constraints, both of which are of first class. The reduced identities are solved explicitly for the case where the secondary constraints constitute the generators of the groupSO(M), and thus an explicit expression for the manifestly gauge-invariant Lagrangian is obtained. By fixing the gauge appropriately, the unphysical variables are eliminated and a quantization is achieved using only physical variables. Our formulation is covariant under an arbitrary point transformation of physical variables. The problem of formulating a quantum action principle is also commented on briefly. (shrink)