As long as you have registered your custom taxonomy to with 'rewrite' => true, then WordPress should automatically build taxonomy archives for you at yousite.com/{taxonomy base}/{term slug}.
There are a lot of caveats and problems that can arise, but for simple setups, this works like a charm. To find the right URL, go to (I’m guessing a little here) Posts > Books and then click “View” beneath the “Book 1” taxonomy.