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This book introduces the reader to the world of differential forms and their uses in geometry, analysis, and mathematical physics. It begins with a few basic topics, partly as review, then moves on to vector analysis on manifolds and the study of curves and surfaces in $3$-space. Lie groups and homogeneous spaces are discussed, providing the appropriate framework for introducing symmetry in both mathematical and physical contexts. The final third of the book applies the mathematical ideas to important areas of physics: Hamiltonian mechanics, statistical mechanics, and electrodynamics. There are many classroom-tested exercises and examples with excellent figures throughout. The book is ideal as a text for a first course in differential geometry, suitable for advanced undergraduates or graduate students in mathematics or physics.