This book is based on a course given at the University of Chicago in 1980-81. As with the course, the main motivation of this work is to present an accessible treatment, assuming minimal background, of the profound work of G. A. Margulis concerning rigidity, arithmeticity, and structure of lattices in semi- simple groups, and related work of the author on the actions of semisimple groups and their lattice subgroups. In doing so, we develop the necessary prerequisites from earlier work of Borel, Furstenberg, Kazhdan, Moore, and others. One of the difficulties involved in an exposition of this...