Yes, chapter 1 is very readable. I found and 2 gets a bit harder but one gets through it.
I worked like this: I read as much as I could in one go so that I could understand where this whole project was going. I found that after 5 pages like that I usually got stuck, because I had failed to understand some concept properly. Then I had to back-track and re-read carefully, doing a few exercises when needed. After chapter 1 it gets harder going because of extra knowledge from topology that is required, but chapter 2 is well explained and quite intuitive.
In any case it is good to have another text so that if you get stuck in one you can refer back to the other one to get you unstuck - it helps to have two eyes to see the third dimension.
I recently found the articles here which would have helped me when I was getting going:
There is a primer there, and a number of other philosophical texts that help give one overview of the subject. What is nice is that it starts there with HoTT- that is HoTTwithout the topological stuff, and explains there some of the tricky concepts of equality very nicely. The primer also ties in nicely with the more logical formalism.
Finally I think it helps to see a real person explain a project with chalk and passion. Robert Harper's course is really helpful there.
What you get to see there is:
• Why he is passionate about it - which may get you to understand things and why you should care - what he finds problematic with HoTT, what bothers him, etc... Ie how this field is alive.
• how the reasoning and notation works:
+ how to pronounce the symbols, what their meaning is, how they are meant to be used. New notations written on a piece of paper can be quite puzzling because one is constantly wondering if one has missed something. By seeing someone use it you get to understand what is automatic, presupposed, unimportant, and what you need to pay attention to
+ he makes mistakes on the board, and the students help him fix his mistakes, so you see how the notation is meant to work. You get to see the objective nature of the notation how it works as a communication tool
• larger contextual issue: eg notational clashes between areas of mathematics that may be misleading you
• interestingly the whole course starts off with Brouwers notion of mathematics as a language of communication
etc.. A lot of things that just don't go through well in books, but that are really important to understand.
My guess is that after that one should try learning how to program in this, probably by playing with coq, but I have not gotten there yet...