This is an introduction to noncommutative geometry, with special emphasis on those cases where the structure algebra, which defines the geometry, is an algebra of matrices over the complex numbers. Applications to elementary particle physics are also discussed. This second edition is thoroughly revised and includes new material on reality conditions and linear connections plus examples from Jordanian deformations and quantum Euclidean spaces. Only some familiarity with ordinary differential geometry and the theory of fiber bundles is assumed, making this book accessible to graduate students and newcomers to this field.