Originally published: New York : Academic Press, 1964.

Includes bibliographical references (p. 260-263) and index.

Manifolds Lie groups Fibre bundles Differential forms Connexions Affine connexions Riemannian manifolds Geodesics and complete Riemannian manifolds Riemannian curvature Immersions and the second fundamental form Second variation of arc length Theorems on differential equations Bibliography Subject index.

'Our purpose in writing this book is to put material which we found stimulating and interesting as graduate students into form. It is intended for individual study and for use as a text for graduate level courses such as the one from which this material stems, given by Professor W. Ambrose at MIT in 1958-1959. Previously the material had been organized in roughly the same form by him and Professor I. M. Singer, and they in turn drew upon the work of Ehresmann, Chern, and E. Cartan. Our contributions have been primarily to fill out the material with details, asides and problems, and to alter notation slightly. We believe that this subject matter, besides being an interesting area for specialization, lends itself especially to a synthesis of several branches of mathematics, and thus should be studied by a wide spectrum of graduate students so as to break away from narrow specialization and see how their own fields are related and applied in other fields'.'We feel that at least part of this subject should be of interest not only to those working in geometry, but also to those in analysis, topology, algebra, and even probability and astronomy. In order that this book be meaningful, the reader's background should include real variable theory, linear algebra, and point set topology' - from the Preface. This volume is a reprint with few corrections of the original work published in 1964. Starting with the notion of differential manifolds, the first six chapters lay a foundation for the study of Riemannian manifolds through specializing the theory of connections on principle bundles and affine connections. The geometry of Riemannian manifolds is emphasized, as opposed to global analysis, so that the theorems of Hopf-Rinow, Hadamard-Cartan, and Cartan's local isometry theorem are included, but no elliptic operator theory.Isometric immersions are treated elegantly and from a global viewpoint. In the final chapter are the more complicated estimates on which much of the resear