During my Master's thesis I encountered the theory of holonomy for the first time. Unluckily it was only tangentially related to the topic of my thesis, so I couldn't dive into it. The book I was using is Differential Geometry - Cartan's Generalization of Klein's Erlangen Program which talks a bit about the argument.

I wonder which prerequisite (apart from the elementary differential/Riemannian geometry) are necessary to understand the topic and which book do you think is more appropriate for studying the subject. I was thinking to something that drives me to the Berger classification.

By a rapid google search the first book I found is Submanifolds and Holonomy. Is this a good book?