For clarity and traceability, your commit messages should include the ID and title of the Pivotal Tracker story you're working on. For example:

[#12345] Add Google Maps to user profiles
Optional further commit messages in the body

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Also see Howto: Write a proper git commit message

To quickly generate such commit messages, add a new link "Commit" to your bookmarks and use the following Javascript as the link URL:

javascript:(function() { 
  let storyTitles = [];
  let stories = Array.from(document.querySelectorAll('.story[data-selected="true"]')).map((element) => element.closest('.story'));
  let collapsed = true;
  
  if (stories.length == 0) { stories = Array.from(document.querySelectorAll('.story .details')).map((element) => element.closest('.story')); collapsed = false; } 
  stories.forEach((story) => {
    let title = (collapsed ? story.querySelector('[data-aid="StoryPreviewItem__title"]').innerText : story.querySelector('[name="story[name]"]').value);
    let id = story.dataset.id;
    if (id && title) { let gitptTitle = '[#' + id + '] ' + title; if (storyTitles.indexOf(gitptTitle) == -1) { storyTitles.push(gitptTitle); } }
   });
   
   if (storyTitles.length > 0) { prompt('Your commit message:', storyTitles.join('; ')); } else { alert("Please select the stories first."); } 
 })();

When you now open one or more stories in Pivotal Tracker and hit the bookmarklet, it will display a prompt with a commit message. You can also select the stories using the blue box next to them.

To add the bookmarklet to Firefox first add a new bookmark then right click the bookmark and open properties. Paste your code snippet in the location field.

We also have a shell script for this.