The books that I liked by far the most are the two volumes on Topology, Geometry and Gauge Fields by Gregory Naber. It has a very nice introductory chapter which tells you why one should care about connection and then starts topology from the scratch. The second book ends at with a short introduction to Seiberg-Witten gauge theory (to be found on his homepage)homepage, "Introduction to Donaldson and Seiberg-Witten Theories").
I also enjoyed John Morgan's lectures on Gauge theory in the book "Gauge theory and topology of four-manifolds".

