Creating a standardized introduction course becomes more critical as the field of human-robot interaction (HRI) becomes more established. This paper outlines the key components necessary to provide an undergraduate with a sufficient foundational understanding of the interdisciplinary nature of this field and provides proposed course content. It emphasizes the importance of creating a course with theoretical and experimental components to accommodate all different learning preferences. This manuscript also advocates creating or adopting a universal platform to standardize the hands-on component of introductory HRI courses, regardless of university funding or size. Next, it recommends formal training in how to read scientific articles and staying up-to-date with the latest relevant papers. Finally, it provides detailed lecture content and project milestones for a 15-week semester. By creating a standardized course, researchers can ensure consistency and quality are maintained across institutions, which will help students as well as industrial and academic employers understand what foundational knowledge is expected.