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The Missing Manual
This book was extremely helpful in the setup and use of my new DSLR. It is well written and easy to understand. It is much more informative than the camera manual.
The book covers just about every menu, button, and setting of the camera, as well as the basics of exposure and an introduction to composition.
Of particular use are the descriptions of the various autofocus modes and when to use them. Also useful are explanations of every custom setting with a recommendation for each setting.