Joe Armstrong's book is probably the best one to start with. It gives you a step-by-step learning process that will get you up and running with Erlang in short

Joe Armstrong's book is probably the best one to start with. It gives you a step-by-step learning process that will get you up and running with Erlang in short order. Once you are finished with it pick up Erlang Programming by Cesarini and Thompson; this book covers a lot of the same territory but goes a bit deeper into some areas that are missing from Armstrong's book (e.g. debugging & tracing, etc.)