Adobe Indesign is pretty much the de facto industry standard for book layout when text and graphics need to be incorporated together. It's used for everything from RPG books to textbooks, and it's $19.99 US per month (about $240 US every year).
Of course, there are a lot of alternatives, both commercial and non-commercial. I personally like Scribus, but there are other possibilities here: http://alternativeto.net/software/adobe-indesign/