Panchtantra by pandit Vishnu Sharma is a great book that I would recommend to both beginners and experts. It is comprehensive, easy to read, and perfect for the casual reader who wants to know more about yoga.
This is one of the books I was most looking forward to reading. It's about a young boy who sets off on a journey to find his father, a great yogi, who had been missing for years. What starts out as a quest for knowledge and love turns into something much larger than that. I'd recommend this book if you are looking for an engaging story with twists and turns that will leave you feeling uplifted and enlightened when it's over.
I'd like to say that Pandit Vishnu Sharma is a masterful teacher and if you want to learn the art of meditation, start with his book Panchtantra. It's a totally different perspective and I'm so glad I found it!