It depends...if you are looking for all the syllabus steps for International Standard style, there is "The Ballroom Technique" by Alex More, published by the ISTD (Imperial Society of Teachers of Dancing). If you're looking for commonly-used 'out of syllabus' figures, there's "Popular Variations", which is also by Alex More and is also published by the ISTD. For the International Latin syllabus, there is a (red) book for each of the dances which is also published by the ISTD.
If you're looking for books for syllabus American Smooth and American Rhythm, then the only ones I've found come from the DVIDA syllabus, available through Dance Vision.
If you're looking for something simpler, related to social dancing, I heard of a book called "Quick Start to Social Dancing," but I've never looked at it.
Laura