Principles of Foundation Engineering written by Braja M. Das is a very good book written on foundation engineering. It covers almost every topic. It is written in simple, lucid and easy to understand language. Book is primarily intended for undergraduate students but postgraduate students can also take benefit from it.
Chapter 1: Geotechnical Properties of Soil
Chapter 2: Natural Soil Deposits and Subsoil Exploration
Chapter 3: Shallow Foundations: Ultimate Bearing Capacity
Chapter 4: Ultimate Bearing Capacity of Shallow Foundations: Special Cases
Chapter 5: Shallow Foundations Allowable Bearing Capacity and Settlement
Chapter 6: Mat Foundations
Chapter 7: Lateral Earth Pressure
Chapter 8: Retaining Walls