Einstein's theory of general relativity is a cornerstone of modern physics. It also touches upon a wealth of topics that students find fascinating - black holes, warped spacetime, gravitational waves, and cosmology. Now reissued by Cambridge University Press, this ground-breaking text helped to bring general relativity into the undergraduate curriculum, making it accessible to virtually all physics majors. One of the pioneers of the 'physics-first' approach to the subject, renowned relativist James B. Hartle, recognized that there is typically not enough time in a short introductory course for the traditional, mathematics-first, approach. In this text, he provides a fluent and accessible physics-first introduction to general relativity that begins with the essential physical applications and uses a minimum of new mathematics. This market-leading text is ideal for a one-semester course for undergraduates, with only introductory mechanics as a prerequisite.