What is symmetry in physics in the mathematical sense, using (Lie) groups

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In physics, we sometimes say that, for example, a certain classical system has a certain symmetry, which is given by some group. I don't feel like I understand this well enough. Are there some good books you recommend to read that explain to me rigorously what symmetry means? "What is symmetry?" Where for example you have the Hamilton formalism (might even involve symplectic geometry) and how it points out toward a certain group and a certain action. Perhaps might also have a link with representation theory. Searching for good books or papers. Thank you