The Living Force by John Jackson Miller

In the year before The Phantom Menace, Yoda, Mace Windu, and the entire Jedi Council confront a galaxy on the brink of change.

The Jedi have always traveled the stars, defending peace and justice across the galaxy. But the galaxy is changing, and the Jedi Order along with it. More and more, the Order finds itself focused on the future of the Republic, secluded on Coruscant, where the twelve members of the Jedi Council weigh crises on a galactic scale.
As yet another Jedi Outpost left over from the Republic's golden age is set to be decommissioned on the planet Kwenn, Qui-Gon Jinn challenges the Council about the Order's increasing isolation. Mace Windu suggests a bold response: All twelve Jedi Masters will embark on a goodwill mission to help the planet and to remind the people of the galaxy that the Jedi remain as stalwart and present as they have been across the ages.
But the arrival of the Jedi leadership is not seen by all as a cause for celebration. In the increasing absence of the Jedi, warring pirate factions have infested the sector. To maintain their dominance, the pirates unite, intent on assassinating the Council members. And they are willing to destroy countless innocent lives to secure their power.
Cut off from Coruscant, the Jedi Masters must reckon with an unwelcome truth: While no one thinks more about the future than the Jedi Council, nobody needs their help more than those living in the present.