Use Kindle for PC or Kindle for Mac.
Some Kindle books are DRM free, but there is no easy way to find them. So most likely you will have to strip the DRM, which is in the US is very probably legal for ebooks you bought for the purpose of reading on a device you own. See Apprentice Alf's Blog for a summary of DRM removal options. On a PC, the available 3rd party plugins for Calibre that strip DRM are your best bet.
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