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Just about every wargame out there teaches this, so it becomes a matter of deciding between complexity/ease to learn, time to play, and expense. I'm going to advocate for the Advanced Squad Leader Starter Kit series since they are a terrific value for the money, have tons of player support online, and has a large opponent pool. I also like to play these with an umpire in a "double-blind" mode (think Battleship), where there's a screen between two identical boards and someone figures out line of sight for both players.
Advanced Squad Leader Starter Kit #1. I've described this game elsewhere on this website, but I will nevertheless list it here as it seems to stay in print. Even at MSRP, it's a terrific value for the money, but one can find it for even less at the various discount online wargame websites like Naval Warfare Simulations.
Advanced Squad Leader Starter Kit Bonus Pack #1: Beyond the Beaches. You only need Stater Kit #1 to play this. It comes with a bocage map board, a few extra rules, and a couple of scenarios. Given the price, you can't beat it!
Advanced Squad Leader Starter Kit Expansion Pack #1. This is a real misnomer, as it is a stand alone game with all the rules you need that covers Starter Kit #1 through #3. There are infantry only scenarios (like Starter Kit #1), ones with just guns/onboard ordnance (like Starter Kit #2), and of course quite a number of scenarios that involve all of the above plus tanks! In fact, one could learn the whole ASL Starter Kit system with just this one game!
Advanced Squad Leader Starter Kit Historical Module: Decision At Elst. This is the ultimate ASL Stater Kit experience as it replicates tactical warfare on historical terrain using a historical OOB. The action is set on "The Island" between Nijmegen and Arnhem in September 1944 as the British XXX Corps tries to breakthrough to the beleaguered British 1st Airborne Division.
Out of Print games (these will eventually come back into print, so watch for them!):
Advanced Squad Leader Starter Kit #2. Introduces onboard ordnance/guns. Sure, with the Expansion Pack #1 and Decision At Elst you don't really need this. But for the completists among you, you'll enjoy the many scenarios and additional maps included herein!
Advanced Squad Leader Starter Kit #3. Introduces armored fighting vehicles. Yes, you really don't need this with Expansion Pack #1 and Decision at Elst being available, but this has plenty more scenarios and maps.
This is perhaps the best value for your money and there's a huge online support community and nationwide opponent base: