I have read to both my kids from the day they were born. Almost! We have made it a bedtime routine, partly because I love kids books and I love reading, but also because it is good wind-down time, and promotes literacy. SO! You can read to her any time, not just bedtime, and if you want a good book to start out with at bedtime, I would try Goodnight Moon. You probably have it already. It is simple, short, and about going to sleep. My son is 20 months old, and we have been reading this one every night for about six months now...he loves it...if you don't have your own copy, I could probably send you mine, as I have the entire thing committed to memory!!!! Hahaha. Anyway...
Both my kids also have books with them in bed that they look at while they are are going to sleep. I would suggest getting a nice collection of board books for your daughter--my son is pretty hard on ours, but he has yet to destroy any of them--and get a little shelf where she can get them out herself. My son will go to the bookshelf and pull out books and "read" for a half an hour, all by himself! And my daughter will sometimes "read" to my son (she has so many books memorized now that she actually seems to be reading). It's great!