This book introduces the basic ideas to build discontinuous Galerkin methods and, at the same time, incorporates several recent mathematical developments. The material covers a wide range of model problems, both steady and unsteady, elaborating from advection-reaction and diffusion problems up to the Navier-Stokes equations and Friedrichs' systems. Both finite element and finite volume viewpoints are exploited to convey the main ideas underlying the design of the approximation.