Some of my favorite reads:

"Yoga as Self-transformation", Joel Kramer, Yoga Journal 1980, see link:

http://www.mimbres.com/holp/holpath/kramer/kramer4.htm

When you have a spare moment, just read the opening section of Joel Kramer's timeless article on yoga.  He says it all.

The Essence of Yoga, Reflections on the Yoga Sutras of Patanjali, Bernard Bouanchaud

My favorite translation of the yoga sutras, very accessible with questions to ponder and pronunciation.

Yoga and the Quest for the True Self, Stephen Cope

A western yogis modern journey, great descriptions here of the energy that rides on the wave of the breath.

The Heart of Yoga, TKV Desikachar

Krishnamacharya's son wrote this very complete book that sums up the teachings of yoga.

Great descriptions of the eight limbs as well as other yogic philosophies.

Yoga Mind, Body and Spirit, Donna Farhi

Contemporary, very simply written.  Good application of the yogic teachings to our modern life, great for beginners.

Light on Yoga, BKS Iyengar

The classic text on hatha yoga, just the introduction will keep you pondering for months.

Great Teachers

I recommend taking as many different classes as you can, figure out what you like, what inspires, what you don't like and why.  I always encourage beginners to take a few classes with a good Iyengar instructor.  Once you've been practicing for at least a year, I highly recommend checking out one of our contemporary "masters" who have inspired me (the "youngest" teacher on the list has 20 years of experience teaching):

Ana Forrest - Forrest Yoga

Shiva Rea - Vinyasa Flow Yoga

Sarah Powers - Insight Yoga, Yin Yoga, Mindfulness

Angela Farmer - her own thing, working from the inside out, surfing "deep waters"

Lisa Walford - Iyengar yoga

Erich Shiffman - his own thing, some Iyengar background and many years practice and teaching 

Richard Freeman, Tim Miller - Ashtanga Yoga