Introduction to the theory of relativity

Good and comprehensive. could have more expanded attention to writing for less mathematically 'skilled' audience.

Although meant to be an introduction to Relativity, this book is hard to read right from the start. The formalism used throughout the entire book makes it hard for you to gain the courage to try to master Relativity in a technical depth.

Don't know of a superior first exposure to relativity. It starts with elementary situations and examines the conflicts with pre-relativistic kinematical viewpoints.