Robert Kiyosaki wrote Rich Dad Poor Dad with Sharon Lechter to illustrate the differences between his real father who struggled financially and his friend's father who became wealthy. The book explores how earning a high income, challenging beliefs around assets and liabilities, and teaching children financial literacy from a young age are keys to building wealth. It defines what assets and liabilities are, outlines the history of taxes and corporations, and explains how the rich invent new forms of money.