James Mitchner's book "Hawaii" is a good read and the opening tells of how the islands were formed by volcano eruptions from the ocean floor.
Another book, much regarded in Hawaii is Gavan Dawes book "Shoal of Time" sub titled "A History of the Hawaiian Islands". which begins with Captain Cook's "discovery" (ahem*) of the islands. Published by The University of Hawaii Press, Honolulu, 1968, still in print.
ISBN is 0-8248-0324-8. The paperback published by arrangement with The MacMillan Company.