положил is the perfective past form of положить (“to put down”). It implies a completed action (“you put it and that’s done”).
If you use the imperfective verb класть in past tense (клал), you’d get “Куда ты клал книгу?”, which suggests either a habitual action (“where did you usually put the book?”) or emphasizes the process rather than a single completed event.
Use положить/положил for one-time, completed placing; use класть/кладёшь/кладывал for general, habitual, or in-progress putting.
In Russian, question words like куда typically come first to signal a question. Russian word order is more flexible than English, so you could also ask:
You can reply by naming the place (often with a preposition + accusative for direction):