Are there any books that talk about ancient Rome/Greece's day to day happenings for people, especially slaves?

I should like to know about the day to day stuff for all the classes of people, slaves, free men, magistrate, normal families, kings/queens/monarchy etc but mostly slaves, if that's available. I don't want a massive hardback history book full of pictures. I'd like one I can read day to day. I've looked on Amazon but there are so many I have no idea where to start.