When I was a student, I studied the subject using a very old book "Topological groups", written by L. S. Pontryagin. It was in Russian, but Google search shows that there is a translation in English.
The most important topological groups are Lie Groups. I would start with them and then generalize. There is a text book which introduces Lie Group using matrixes as examples:-- "Lie Groups: A problem-Oriented Introduction via Matrix Groups" by Harriet Pollatsek. Note that you will see Lie Algebras also discussed with Lie Groups, but this association does not generalize to topological groups.