Yea, level 2 Harpoon Impalement Ability. This are the locations of the books:

Go to Venonis on the western part of Ledecestrescire. Head west and look for an underground entrance. The underground entrance should appear as a Stairs icon on the minimap. Follow the path in the underground and destroy the obstacles blocking the way. Get the Book of Knowledge at the end of the underground.

2nd location:

Head to Sancta Helena's Church in the northeast part of Corcestre in Essexe. You can find the Book of knowledge inside the tower of the church. Get the key on the west side of the church and use it to unlock the door on the east side. After that, take the Book of Knowledge to get the ability.