The Faddeev and Jackiw procedure for the quantization of constrained g
auge systems is used on the analysis of non-Abelian symmetries. The ke
y point is that the gauge algebra of the non-Abelian constraints under
generalized brackets can be reconstructed. This follows from the sing
ular matrix that defines the basic geometric structure of the model an
d its corresponding zero-modes. The attainment of this algebra, not pr
eviously found in the Faddeev-Jackiw formalism for constrained theorie
s, leads to the correct transformation properties for the gauge fields
. This construction shows that the zero-modes of the symplectic matrix
and the generators of gauge symmetry are closely related. To illustra
te the method studied here we consider a simple mechanical model with
an underlying non-Abelian symmetry and the field theory of pure Chern-
Simons theory in (2 + 1) dimensions.