Once way of doing it - I am sure there are other ways too - is to make a page template for books: books.php
You can make a copy of page.php and rename it.
In the top of the file you place the usual Page Template code as in:
Template Name: Books
Below the normal loop, you then place the code for a new loop:
<?php $loop = new WP_Query( array( 'post_type' => 'books') ); ?>
<?php while ( $loop->have_posts() ) : $loop->the_post(); ?>
Don't forget to close it with the call for
<?php endwhile; ?> at the end.
With this method you can within WordPress add a Page called Books and assign this particular Template to it. This way you can still add general text to the page too and below display the list of all books.