Chapman's. Chapman piloting and seamanship 66th edition
is the title to be exact. Buy a used one from a few editions ago and it'll be just fine. The fundamentals haven't changed.
While not exactly a how-to, it does tell you how to navigate and it is THE reference by which all others are judged. Every boat should have a copy, and even if it's navigation chapters don't teach you the art of navigation you will use it frequently for reference to look up questions you have from your courses or other books.
There is also a free PDF version here
, but every boat SHOULD have a hard copy.