The Tower and the Hive by Anne McCaffrey

Heres a happy ending to McCaffreys futuristic Rowan (aka the Talent) series (Lyons Pride, etc.), as Humans, their allies, the Mrdini, and the insectoid Hivers, who menace both, find ways to coexist. The main heroes are the Talented members of Federation Teleport and Telepath, dominated by the family that began the organization, but increasingly including different blood lines. McCaffrey provides an introduction, What Has Gone On Before, but its nearly as confusing as it is helpful. Fortunately, the narrative offers bountiful explanations of salient events and relationships, so all becomes clear as the story progresses.