I used Minna no Nihongo with a teacher and also Japanese for Busy People. Many people also recommend the "Genki" series of books. I won't provide PDF download links because that would encourage theft of intellectual property. If you like the books, it is good to reward the authors by buying them.
If you want a free guide, you could check out http://www.guidetojapanese.org/learn/complete, which is very thorough and a good starting point too.