Vladimir_Nesov comments on Open thread, May 17-31 2013 - Less Wrong Discussion
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These texts can work as an introductory undergraduate sequence (with "Sets for Mathematics" going after enough exposure to rigor, e.g. a real analysis course, maybe some set theory and logic, and Awodey's book after a bit of abstract algebra, maybe functional programming with types, as in Haskell/Standard ML/etc.):
Second the recommendation of Lawvere and Schanuel. It really communicates the categorical way of thinking without requiring a lot of mathematical background (more traditional texts on category theory will talk about things like algebraic topology which historically motivated category theory but aren't conceptually prior to it).