Braving the Wilderness: The Quest for True Belonging and the Courage to Stand Alone by Brené Brown was a solid book, with the subtitle referring to a Maya Angelou quote about belonging no place. Brown writes of how she at first disagreed with the idea, then later understood it as saying that belonging is when you show up as yourself, and as a result, you belong explicitly to yourself. It can be difficult to stand alone in the wilderness, but it's being true to your beliefs.
Brown notes towards the beginning of the book not feeling she belonged as part of her family growing up, the worst type of being an outsider, and goes on to write about four elements of true belonging:
1. People are hard to hate up close. Move in.
2. Speak truth to bullshit. Be civil.
3. Hold hands. With strangers.
4. Strong back. Soft front. Wild heart.
In illustrating her third point, Brown tells the story of her driving in Houston and cars pulling to the side with news of the shuttle Challenger explosion. To the fourth point, she notes how strong back, soft front is a Buddhist principle, and back to the overarching idea of belonging, she covers how people should stop looking for confirmation they don't below, and to be aware of the difference between fitting in and true belonging.
Brown is a good writer and at the end of the book makes mention of additional writing being available on her website.