I'm starting The Expanse series in chronological order for my first full read through, and Drive is an absolutely wonderful introduction to the world.
Drive is a short read (only about 30 pages), but it packs a lot of worldbuilding into that short word count. It introduces us to the politics of the system, the antagonism between Earth and Mars, and even gives real-world points of comparison in an organic way to really make a reader immersed in the world.
Not only is this a solid prequel that sets up the world, but it's also got a likeable, driven, awkward character in the form of Solomon Epstein, the creator of the Epstein Drive that is so central to The Expanse universe. We get to know him as a person through his friends, and his wife, and it's easy to connect with him, giving the reader an emotional hook.
Whether you're new to the series, a hardcore fan, or are starting the series from scratch having only read a few books out of order, like me, Drive is a great place to start!
The Expanse, premiering in December 2015 on Syfy, is based on The New York Times best selling book series by James S.A. Corey. Set two hundred years in the future, where man has colonized the outer asteroid belt, The Expanse follows the case of a missing girl that brings together a hardened detective and a rogue ship captain in a race across the solar system to expose the greatest conspiracy in human history. "Drive" highlights a key moment in The Expanse universe whose ramifications set the foundation for the show.