This reference book, which has found wide use as a text, provides an answer to the needs of graduate physical mathematics students and their teachers. The present edition is a thorough revision of the first, including a new chapter entitled ``Connections on Principle Fibre Bundles'' which includes sections on holonomy, characteristic classes, invariant curvature integrals and problems on the geometry of gauge fields, monopoles, instantons, spin structure and spin connections. Many paragraphs have been rewritten, and examples and exercises added to ease the study of several chapters. The index includes over 130 entries.