There is Mathematics for the Million by Lancelot Hogben, which not only covers math, but the history of math and why it was developed over the centuries. It starts with numbers, then geometry, arithmetic, trig, algebra, logarithms and calculus, in that order. It's a very cool book.
I was going to say the same! I got it years ago, it's hard to top a math book with a quote from a certain Al Einstein on the back cover singing its praises! Morris Kline's "Mathematics for the Nonmathematician" takes a similar approach, as I believe other books by the author do. Can also recommend "Code" by Charles Petzold and "The Information" by James Gleick, while not comprehensive they do cover the development of key mathematical insights over time.
