
This book is intended to describe the practical and conceptual origins of Mathematics and the character of its development - not in historical terms, but in intrinsic terms.
That said, that's a frustrating answer. An excellent book which does just what I said above and tells a lightly fictionalized "just so" story of the "history and development" of mathematics as an excuse to introduce everything in a motivated fashion is MacLane's Mathematics: Form and Function which I just recommend endlessly.
https://www.amazon.com/Mathematics-Form-Function-Saunders-Ma...
* Where Mathematics Comes From: How the Embodied Mind Brings Mathematics Into Being by George Lakoff and Rafael Nunez
* The Mathematician's Mind by Jacques Hadamard
* Mathematics Form and Function by Saunders MacLane
* On the Brink of Paradox: Highlights from the Intersection of Philosophy and Mathematics by Agustin Rayo
The preface and chapter 1 of A Book of Abstract Algebra by Charles C. Pinter has an excellent discussion of a certain perspective of mathematics. Hermann Weyl wrote a lot about this stuff too.
Mathematics, Form and Function by Saunders Mac Lane (1986 Springer-Verlag hardcover, ISBN 0-387-96217-4) [2]
[1]: https://www.cut-the-knot.org/books/kac/index.shtml
[2]: https://en.wikipedia.org/wiki/Mathematics,_Form_and_Function