This book provides an accessible, yet thorough, introduction to special and general relativity, crafted and class-tested over many years of teaching. Suitable for advanced undergraduate and graduate students, this book provides clear descriptions of how to approach the mathematics and physics involved. It is also contains the latest exciting developments in the field, including dark energy, gravitational waves, and frame dragging. The table of contents has been carefully developed in consultation with a large number of instructors teaching courses worldwide, to ensure its wide applicability to modules on relativity and gravitation. Features: A clear, accessible writing style, presenting a sophisticated approach to the subject, that remains suitable for advanced undergraduate students and above Class-tested over many years To be accompanied by a partner volume on ‘Advanced Topics’ for students to further extend their learning