Naive Lie Theory
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In addition, someone recomended Stillwell's *Naive Lie Theory* as "a great first introduction"; it is an undergraduate text.Recommended [here](https://math.stackexchange.com/questions/461029/getting-started-with-lie-groups) as a good introduction to Lie theory:> I would suggest you start with chapter 4 of *An Introduction to Manifolds* by Tu, Then study *Lie Groups, Lie Algebras, and Representations: An Elementary Introduction* by Hall and finally study *Differential Geometry, Lie Groups, and Symmetric Spaces* by Helgason.
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