Another good reference, that also introduces some PLT notation, is Loh 2001, "Introduction to the Dependently-Typed Lambda Calculus" [1], as well as the textbook by Pierce [2], which has a formally-verified spiritual successor [3].
[1] http://www.cs.ru.nl/~wouters/Publications/Tutorial.pdf [2] https://www.cis.upenn.edu/~bcpierce/tapl/ [3] https://softwarefoundations.cis.upenn.edu/plf-current/index....