You should never have to read a chapter more than once (in theory). If you've done your reading well and taken notes as you read, you have a record of the thoughts being communicated. Granted, it takes a while to adapt to this approach. Don't be upset if you have a time of adjustment before being able to read a chapter only once. But if you put in the work now to get used to reading a textbook more effectively, consider the time you'll save in the long-run. We promise you'll see the benefits quickly.