Daoisms history is very long. Depending on what you're interested in you may want to look into different time periods.
The Warring States period is where Daoism emerges as a rival of Confucianism and Mohism. The two masterpieces, The Daodejing and The Zhuangzi, are consolidated into writing around this time. Its emphasis on perspective, transformation, and effortless action also come out of this period. Some spiritual practices like breath meditation predate this, but as I understand it most spiritual / supernatural elements emerge much later.
If that's the period you're most interested in, here are the intro resources I'd recommend:
I wrote a book specifically for people like you. It's titled "Digging Your Own Well: Daoism as a Practical Philosophy". You can find for sale at many book sellers on line as either a paperback or ebook. It's meant to be affordable, so don't fall for a drop-seller.