I really like this book, and am reading it for a second time. It is a moderately detailed exposition of Vedantic teachings on a range of subjects: the subtle bodies of the human being; the law of karma and rebirth; the four yogas highlighted by Swami Vivekananda, namely, jnana, bhakti, raja, and karma; and God-realization as the supreme goal of life. While it contains numerous citations from the Upanishads and other Vedantic texts, Sanskrit terms are employed very sparingly, and the level of exposition does not presuppose a foundation in any philosophical tradition, Indian or otherwise.
"The Goal and the Way" does not approach its subject matter from a detached, academic perspective. The author is fully committed to Advaita Vedanta. Thus, the book is suitable for someone interested in learning about this darshana (viewpoint) from an insider.
I also recommend Swami Satprakashananda's sequel to this title, published at around the same time, "The Universe, God, and God-Realization From the Viewpoint of Vedanta."
My final point might seem odd in a review, but I wish to note that this book is not hard to obtain at an economical price. Indeed, the relatively low price is what initially attracted me to purchase it, and I wound up with a true bargain.