Living the Martial Way is a good book indeed, and this is from someone who generally thinks martial arts books suck.
Tae Kwon Do: The Korean Martial Art by Richard Chun. One of the best books about traditional Tae Kwon Do ever written. Anyone who thinks Tae Kwon Do is just about tournament sparring should read this. Being older (mid 70's), it contains the Palgue forms.
But if you want tournament sparring, Tae Kwon Do Kyorugi by Sang Kim and Kuk Hyun Chung is pretty much the best book I've seen about Olympic-style TKD sparring. Covers about everything you need to know (techniques, drills, diet, stretching etc.).