This is a textbook for undergraduate courses on radio astronomy. Written by an active professor and researcher in the field, it begins by explaining why conducting observations at radio frequencies is so important, then reviews essential physics concepts corresponding to a sophomore-level curriculum or higher. Next, the book introduces students to single dish telescopes and interferometers. The most commonly encountered emission mechanisms seen in radio astronomy are then explained, along with examples of astronomical sources broadly divided into the types of sources seen in galactic and extragalactic observations. Each chapter provides examples and exercises suitable for homework assignments. Also included is an appendix of useful supplementary material. Altogether, the book is a comprehensive, yet digestible starting point for physics and astronomy undergraduates looking to understand the basics of radio astronomy.