C.J. Cherryh's FOREIGNER series sounds llike it'll meet the spec.
Arthur C. Clark's CHILDHOOD'S END.
David Brin's Five Galaxies series; SUNDIVER, etc.
And if TO SERVE MAN fits the bill, then so does Williamson's THE HUMANOIDS and Gordon Dickson's THE WAY OF THE PILGRIM.
SKYRIM too, if first contact with dragons is the goal, but that's a bit more... interactive... than your typical book.