This textbook provides a unified and concise exploration of undergraduate mathematics by approaching the subject through its history. Readers will discover the rich tapestry of ideas behind familiar topics from the undergraduate curriculum, such as calculus, algebra, topology, and more. Featuring historical episodes ranging from the Ancient Greeks to Fermat and Descartes, this volume offers a glimpse into the broader context in which these ideas developed, revealing unexpected connections that make this ideal for a senior capstone course. The presentation of previous versions has been refined by omitting the less mainstream topics and inserting new connecting material, allowing instructors to cover the book in a one-semester course. This condensed edition prioritizes succinctness and cohesiveness, and there is a greater emphasis on visual clarity, featuring full color images and high quality 3D models.