From their inception, Siegel modular forms have been studied extensively because of their significance in both automorphic functions in several complex variables and number theory. The comprehensive theory of automorphic forms to subgroups of algebraic groups and the arithmetical theory of modular forms illustrate these two aspects in an illuminating manner. The author's aim is to present a straightforward and easily accessible survey of the main ideas of the theory at an elementary level, providing a sound basis from which the reader can study advanced works and undertake original research. This book is based on lectures given by the author for a number of years and is intended for a one-semester graduate course, though it can also be used profitably for self-study. The only prerequisites are a basic knowledge of algebra, number theory and complex analysis.