First of all install update and upgrade your system:
$ sudo apt update
$ sudo apt upgrade
Then, install required libraries:
The natural way to start with CUDA if you plan to be self taught is:
CUDA by Example: An Introduction to General-Purpose GPU Programming by Jason Sanders and Edward Kandrot Nice introduction. It is more like playing with your GPU and admire its capabilities.
Programming Massively Parallel Processors, Second Edition: A Hands-on Approach by David B. Kirk and Wen-mei W. Hwu It explains a lot of things in GPU Programming. You simply can't go without it.