These are the Ayurveda books I recommend to begin your journey.  There are many other books I highly recommend, however, these are the books I recommend to start with.

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Yoga and Ayurveda  by David Frawley
This is one of my go-to's for all things Yoga and Ayurveda.  I love this book and it's one of my "bibles."  If I had to only choose ONE Yoga and Ayurveda book to keep or live on a deserted island with, this is the one I'd choose.

Marma Points of Ayurveda by Vasant Lad and Anishe Durve, L.Ac. This book is well-written, easy to understand and goes from basic ideas to complex concepts. Whether you're a yoga teacher, Ayurveda practitioner, or Acupuncturist wanting to apply and learn the cross-understanding of Ayurveda and Chinese Medicine, this book is a must-have.

Ayurveda Cooking for Beginners by Laura Plumb
This is a beautiful book for those really interested in the cooking side of Ayurveda.  Laura's beautiful wisdom and love for food shine brilliantly in this educational cookbook.

Eat Taste Heal by Dr. Thomas Yarema, Daniel Rhoda, and Johnny Brannigan
Before Laura Plumb's book came out (see above recommendation), this was my favorite recommendation.  It is still a great book.  The first 1/3 is educational and very easy to understand.  The last 2/3 are recipes by season and dosha.