I read this sci-fi book in my youth, sometime in the first half of the 90's, about humans that, as far as I can recall, have found an alien artifact (possibly on the moon) that is a sort of encyclopedia, which was left there by a bipedal hairy humanoid alien race a long time ago. The book tells the modern time story from the human perspective and from the alien perspective during their travel to Earth as a double narrative.
There may be errors in the information above, maybe mixing between more than one novel, but the double narrative is certain, faded memory and all that.