Here’s my translation. Indeed, plenty of challenges here.

Alan

“Þá snýst lagliga um,” segir hon, “ef þú vilt koma á mig skömm þinni. 
„Then (it) turns-up-and-down (snúast um, CV) neatly (lagliga, CV MnI) (That is twisting things (turning things on their head) rather conveniently (?)),“ says she, „if you want to bring (ie transfer) your shame on to me (ie blame me for your shame).“

Legg nú fram drekann þann góða sem þér hingað stýrðuð, ok mun ek þá ei mein gjöra yðr ok yðrum mönnum.”
Now Put forward (ie offer up) the dragon (prowed warship), that good (one) which you steered hither, and I will then not do harm to you and your people (men).”

“Vel mun okkr þat semja, frú,” segir hann.
“Well will that be-agreed-on by us (ie me) (ie I´m only too happy to do that), madam,” says he.

“Ekki vil ek deila yðr frá mat,” segir hon, “en í minni mun þetta haft vera, ok er tími til borðs herra.”
“I want not to divide (separate, keep) you from (your) food (matr),” says she, “but this will be held (lit: had) in memory, and (it) is time (to go) to table, sire.”

Chapter 6
Chapter 6

Sigrgarðr gengr nú til borðs ok er bæði rjóðr ok reiðr af þeim svívirðingarorðum sem meykonungrinn hafði valit honum á allra manna færi, en þó skipaði hann sínum mönnum at færa drekann í þær hafnir er drottningin vildi.
Sigrgarðr goes now to table and is both red (faced) and angry from those words-of-dishonour which the-maiden-king had chosen for him within range (færi, CV) of all persons (men), but nevertheless he assigned (gave directions) to his men to convey (foera) the dragon (prowed warship) into those havens which the-queen wanted.

Litlu síðar mælti drottning við Sigrgarð: “Því ertu svá hljóðr, herra?” segir hon. 
A little later (the) queen spoke with Sigrgarðr: “Why are-you so silent, sire?” says she.

“Eðr leikr þér aptr mundr at drekanum?”
“So does the bridegrooms-payment-to-the-bride (nominative) of the-dragon (prowed warship) (at + dat, Z.iv.6) play back for you (dative) (ie can´t you forget it)?”

“Lítils þiki mér hann verðr,” segir hann, “enn meira þiki mér vert at missa yðvarn vinskap.”
“It (ie the dragon-prowed ship, masc) seems (present tense) to me worthy of little (ie that is of little importance to me)),” says he, “yet (it, neut) seems to me worthy of more (it is a bigger deal to me) to lose your friendship.”

“Ei þiki mér þat mín skuld,” segir hon, “ok munu ei margar leggja sik betr upp, ok sæl þættumst ek ef mætti þín njóta, en ef svá mætti verða at þetta væri lagit á þik þá mætti þik hér síðr um kunna.”
“That does not seem (present tense) to me my debt (fault),” says she, “and many (women, feminine) will not put (ie offer) themselves up better (ie more readily), and I would-bethink myself fortunate (sæll) if I could enjoy (take pleasure from) you, but if (it) might so be, that this (ie your ability to give satisfaction) be imposed on you (ie that you could be forced to deliver such, leggja e-t á e-n, Z14), then (one, I) might blame you less here.” (Alternate reading based on different reading of what ‘þetta’ refers to: …but if (it) might so be, that this (ie your marital bed shortcomings) be imposed on you (by external or supernatural forces, ie beyond your control), then one might blame you less here)

“Ekki veit ek þess ván,” segir hann, “en allr þikjumst ek annarr maðr síðan ek kom hér. 
“I know not of that expectation,” say he, “but (and) I bethink-myself all (completely) another man since I came here.

Gjör nú svá vel at þér látið vera sleitnalaust ef þú mátt nökkuru umráða.”
Act now so well that (ie may it please you that) you cause (it) to be free of subterfuges (sleight-less, sleita, fem gen pl + lauss) if you can arrange (it) somewhat.”

“Ok enn ertu svá dulinn at þér,” segir hon, “at þú vilt auka þinn ósóma? Þá máttu freista enn eina nótt ef þú vilt.”
“And still are-you so self-deluded (lit: denied to yourself, seems slightly more appropriate than self-conceited here), says she, “that you want to increase you disgrace? Then you can try yet one (more) night if you want.”

Hann lét sér þat vel líka, ok tekr nú at gleðjast ok svá bæði þau.
He expressed (láta, Z10) that to well please himself, and takes now (ie begins) to be-glad and so they both (do).

Líðr nú á daginn, ok er nú slíkt í fyrra lagi til sængr gengit. 
(It) passes now in the-day (ie the day draws to a close, líðr á e-t, líða, Z6), and now in-such-wise (it) is rather early (í fyrri lagi, lag, Z9) gone to bed (ie they go to bed rather early).

Sigrgarðr gengr í kastala konungsdóttur, ok liggr hon þar ok breiðir móti honum faðminn. 
Sigrgarðr goes to (the) castle of the king’s-daughter and she lies there and stretches the-embracing-arms towards him.

Hann stígr nú upp í sængina, ok jafnskjótt sem hann þar kemr þá grípr hann í burtu koddann undan höfðinu á sér ok áklæðit af sænginni, ok slítr niðr fortjaldit frá sænginni. 
He steps (climbs) up into the bed and as-soon-as he comes there then he seizes away the-pillow from-under his head and the-counterpane from the-bed, and tears down the-bed-curtain from the-bed.

Snýst síðan at brúðinni vakrt ok fimliga, en hon hefr hendr við honum.
(He) turns after-that to the-bride (dative), alertly and nimbly (adverbial), but she has (her) hands (plural) against him.