Gyrokinetic equations of motion, Poisson equation, and energy and momentum conservation laws are derived based on the reduced-phase-space Lagrangian and inverse Kruskal iteration introduced by Pfirsch and Correa-Restrepo [J. Plasma Phys. 70, 719 (2004)]. This formalism, together with the choice of the adiabatic invariant J=⟨p⃗ ⋅∂x⃗ /∂ϕ⟩ as one of the averaging coordinates in phase space, provides an alternative to the standard gyrokinetics. Within second order in gyrokinetic parameter, the new equations do not show explicit ponderomotivelike or polarizationlike terms. Pullback of particle information with an iterated gyrophase and field dependent gyroradius function from the gyrocenter position defined by gyroaveraged coordinates allows direct numerical integration of the gyrokinetic equations in particle simulation of the field and particles with full distribution function. As an example, gyrokinetic systems with polarization drift either present or absent in the equations of motion are considered.