Boyer/Merzbach "A History of Mathematics" [0] is a tome in that vein. It spends a lot of time discussing the (mind-boggling, to a modern-mathematics-educated reader) methods that ancient peoples used to do real math (e.g. for engineering) as a way to motivate the development of the features of modern symbolic mathematics.

[0] https://www.wiley.com/en-us/A+History+of+Mathematics%2C+3rd+...