I think this book is well-written for first few chapters: it gives gentle introduction to Lie algebra really well and suitable for undergraduates. For latter chapters, there are many "jumps" which may be at times messy and need quite a lot of efforts to fill, and quite nontrivial ones. Choice of phrasing is also at times a bit confusing (e.g. acts diagonalizably). And also the huge amount of errata. On one hand it is alright if one has huge mastery of linear algebra, but otherwise a modest amount of knowledge in linear algebra sometimes isn't enough. But overall, it does allow undergraduates to taste Lie algebra quite early.