Not exactly specific to genetic counseling but I liked these two and read them before going to school:
1) Far From the Tree - each chapter explores the experiences of living with or having a child with a certain identity or condition
2) Genetic Rounds - a narrative by a geneticist (MD) and each chapter tells a story about a different child or family he's met impacted by a genetic coundtion (I'm not sure why it's so expensive on Amazon, I'm sure you'd be able to find it cheaper elsewhere!)
These books are both more about families' experiences than GCs, but I think they offer a good introduction into what we can encounter in our work.