As you know, I'm quite the fan of Taoist expert, Deng Ming-Dao. I've been slowly collecting and reading his books, and discovered one that I would consider his master-work. It's called Scholar Warrior: An Introduction to the Tao in Everyday Life. If you want to read about Taoism in its complexity and completeness, this book is one to treasure. It is head and shoulders above any other book on Taoism that I've ever read.
It starts with how Taoists view their religion as not something to be practiced once a week, but as a complete lifestyle. It goes over dietary recommendations, stretching exercises, Qigong, and herbal formulas for health. It then talks about Taoist philosophy, such as effortlessness or wu wei, and issues in the student/teacher relationship. It ends with a large section in which he writes about Daoyin, which bridges exercise and meditation; meditation practices; the ultimate goal of a Taoist; and a clearly written chapter about emptiness and union with the Tao. It is worth the price of the book for the last chapter alone.
If you are even remotely interested in Taoism, this is the best and most complete book I've found. Highly recommended.