There are a bunch of good books for learning linear algebra. I learned from (and recommend) Strang's textbook; a list of other books can be found, for example, here.

For those of us who like to avoid spending money, there's a bunch of good free material available online:
Videos of Strang's linear algebra course are kindly available here.
A nice (but brief) geometric overview of linear algebra is here; a longer introduction is here. Of course, you can always google around for more.

Finally, chapter 5 of the textbook has a quick review of some key linear algebra concepts. (I emphasize "quick" and "review" here - if you're learning the theory for the first time, use the resources listed above first.)

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