The book teaches the basic concepts of modeling and simulation and gives an introduction to the Modelica language to people who are familiar with basic programming concepts. It gives a basic introduction to the concepts of modeling and simulation, as well as the basics of object-oriented component-based modeling for the novice. The book contains examples of models in a few different application domains, as well as examples combining several domains. All examples and exercises in this book are available in an electronic self-teaching material called DrModelica, based on this book, that gradually guides the reader from simple introductory examples and exercises to more advanced ones.