The Milky Way’s (MW) gravitational potential in its inner parts and its decomposition into disk and halo components are fundamental to our understanding of the MW’s formation and evolution and to determining the importance of dark matter within the inner parts of galaxies. However, both the circular velocity curve and the density distribution away from the Galactic mid-plane are poorly constrained, especially away from the solar radius. I will discuss recent progress in measurements of the MW's rotation curve, its surface density profile between 4 and 10 kpc, and deviations from axisymmetry. These allow us to separate the disk and halo contributions to the gravitational potential and to determine the radial profile of the dark matter halo.