It is not generally advised to use just one book (take a look at the preface of The Oxford Handbook of Project Management). I have a list of recommended reference; however, for many discussions I've found Maylor (2010), Pinto and Slevin and Gradiner very helpful!
I'm using Kathy Schalbe's Introduction to Project Management in a PM Foundations course for graduate students.
It has a good example project that runs through the book, excellent support for instructors, and a full set of PM templates that students can download. It's PMBOK Guide 5th ed. compatible. My students (adults ages 25-60) love it.
A very good book, used at several Universities in USA and a course at Rotterdam Uni (Netherlands): Project Management Institute. (2000). A guide to the project management body of knowledge (PMBOK guide). Project Management Inst.