Is there a detailed introduction to the basics of modern mathematics that is accessible to most people especially those not formally trained in the subject.
This is an excellent question with many possible answers.
To get started in answering this question, it helps to recall how Feynman viewed physics through the glasses provided by mathematics:
http://ms.unimelb.edu.au/~jchan3/Talk_transcripts/How%20Feynman%20became%20a%20physicist.pdf
Feynman rolls out his principle of least action with some beautiful mathematics, namely, Taylor series, Lagrangians and the calculus of variations.
For the details about Feynman's lectures, see
http://www.feynmanlectures.info/
For Richard Feynman's 1964 Cornell University lectures (complete, watchable), see
http://www.cornell.edu/video/richard-feynman-messenger-lecture-2-relation-mathematics-physics
See Lecture 2 on the relation between mathematics and physics.
Mathematics is too broad, there are too many branches and many possible foundations. Most branches have easier texts though
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