Tarot for Real Life by Jack Chanek, published by Llewellyn Books, presents one of the best approaches to learning tarot that you can find. I love its focus on the Minor Arcana rather than the Majors, though it most certainly gives due treatment to the Majors as well.
The structure and layout of the book also makes it user-friendly, and the go-to reference you’ll want at your fingertips. If you’re looking up a specific card, there’s a separate table of contents in the front pages just for the 78 cards.
The meat of the book is subdivided into six parts: Practical, Intellectual, Emotional, Aspirational, Personal, and The Big Picture. Respectively they correspond with discussions on the suit of Pentacles, Swords, Cups, Wands, the court cards (under Personal), and the Major Arcana (under The Big Picture).