Chris Date's Introduction to SQL [1], or Edgar Codd's last book [2].
Actually both are worth reading to discuss differences in philosophy (e.g. "no NULLs" vs 4-valued logic including "unknown" and "not applicable" NULLs).
[1] https://www.amazon.com/Introduction-SQL-Mastering-Relational...
[2] https://www.amazon.com/Relational-Model-Database-Management-...