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.
It’s a revisionist history of mathematics aimed to demonstrate how ideas flow from one to another. He eliminates a lot of dead-ends and takes a perspective as to one “ought” to move from one subject or discovery to another. OTOH, the historical perspective is both readable and often a missing piece which makes other math tougher.
It reads as a high level false-historical account of how math might have been developed, in its entirety, if it unfolded in the most direct and logical way from the human experiences we all share (guided by understanding of where mathematics has ended up in the modern age).
The false-historical expose is fantastic. The goal becomes less to express things as accurately and comprehensively as modernly possible—which you'll experience as you take on graduate level books or modern papers—but instead to demonstrate large-scope intuition for why whole fields evolved as they did and how they are all intermingled.
On the other hand, while I am always cognizant and amazed by the POV of math as a human construction, there's something a little otherworldly about it from time to time. In the same way that you sometimes hit a code design which feels so damn good, Math, especially older math, is just a huge collection of these. Somehow, despite this all coming, apparently, from our minds, we hit on these design decisions that are just so sweet that they last millennia. This is what inspired things like Voyager---maybe it's hubris, but it just has to be the case that aliens speak mathematics.
So, I encourage anyone excited by this: math isn't "hard", it's just big and wonderful. You'll never finish learning it, but the journey will be incredible.
I'll leave this linking two more great resources (edit: to be clear, really the first one is the great resource... the second is just me talking, not really great at all). First, Paul Erdös, a famous mathematician who perhaps specialized in combinatorics, loved this idea I espouse above. In his mind, God had a small number of "proofs" in his mind when he designed mathematics. These are so wonderful that their beauty is completely self-evident. After Erdös "stopped doing math" (passed away) people compiled some of his Proofs from The Book along with others they imagine he would have so regarded into a great text book called, unsurprisingly, Proofs from The Book [0].
Finally, I'll self plug a little essay I wrote, actually in another HN comment, a while ago about learning mathematics.
http://jspha.com/posts/there_is_no_royal_road_to_mathematics...
[0] http://www.amazon.com/Proofs-THE-BOOK-Martin-Aigner/dp/36420...