This textbook serves as an introduction to modern differential geometry at a level accessible to advanced undergraduate and master's students. It places special emphasis on motivation and understanding, while developing a solid intuition for the more abstract concepts. In contrast to graduate level references, the text relies on a minimal set of prerequisites: a solid grounding in linear algebra and multivariable calculus, and ideally a course on ordinary differential equations. Manifolds are introduced intrinsically in terms of coordinate patches glued by transition functions. The theory is...