A comprehensive two-fluid nonlinear theory of magnetic reconnection driven at a single, tearing-stable, rational surface embedded in an H-mode tokamak plasma is presented. The surface is assumed to be resonant with one of the dominant helical harmonics of an applied resonant magnetic perturbation (RMP). The theory described in this paper is highly relevant to the problem of understanding the physics of RMP-induced edge localized mode (ELM) suppression in tokamak plasmas.