We report the first discovery of a transiting circumbinary planet detected from a single sector of TESS data. During Sector 21, the planet TIC 172900988b transited the primary star and then 5 days later it transited the secondary star. The binary is itself eclipsing, with a period of P = 19.7 days and an eccentricity of e = 0.45. Archival data from ASAS-SN, Evryscope, KELT, and SuperWASP reveal a prominent apsidal motion of the binary orbit, caused by the dynamical interactions between the binary and the planet. A comprehensive photodynamical analysis of the TESS, archival and follow-up data yields stellar masses and radii of M1 = 1.2377 +/- 0.0009 MSun and R1 = 1.3827 +/- 0.0025 RSun for the primary and M2 = 1.2021 +/- 0.0008 MSun and R2 = 1.3141 +/- 0.0013 RSun for the secondary. The radius of the planet is R3 = 11.07 +/- 0.47 REarth (1.009 +/- 0.043 RJup). The planet's mass and orbital properties are not uniquely determined - there are six solutions with nearly equal likelihood. Specifically, we find that the planet's mass is in the range of 822 < M3 < 981 MEarth (2.59 < M3 < 3.09 MJup), its orbital period could be 188.8, 190.4, 194.0, 199.0, 200.4, or 204.1 days, and the eccentricity is between 0.02 and 0.09. At a V = 10.141 mag, the system is accessible for high-resolution spectroscopic observations, e.g. Rossiter-McLaughlin effect and transit spectroscopy.