The aim of this groundbreaking new book is to bring general relativity into the undergraduate curriculum and make this fundamental theory accessible to all physics majors. Using a "physics first" approach to the subject, renowned relativist James B. Hartle provides a fluent and accessible introduction that uses a minimum of new mathematics and is illustrated with a wealth of exciting applications. The emphasis is on the exciting phenomena of gravitational physics and the growing connection between theory and observation. The Global Positioning System, black holes, X-ray sources, pulsars, quasars, gravitational waves, the Big Bang, and the large scale structure of the universe are used to illustrate the widespread role of how general relativity describes a wealth of everyday and exotic phenomena.