In "The Local Structure of Poisson Manifolds" A. Weinstein attributes the Symplectic Foliation Theorem to Sophus Lie in the constant rank case (citing precisely the Second Section of "Theorie der Transformationsgruppen") and to A.A.Kirillov and R.Hermann in the general case.

I would like to learn more how this problem is tackled by Lie, and if there are some modern expositions (preferibly in English) of Lie's approach to this theorem?