  We precisely constrain the inner mass profile of Abell 2261 (z=0.225) for the
first time and determine this cluster is not "over-concentrated" as found
previously, implying a formation time in agreement with {\Lambda}CDM
expectations. These results are based on strong lensing analyses of new 16-band
HST imaging obtained as part of the Cluster Lensing and Supernova survey with
Hubble (CLASH). Combining this with revised weak lensing analyses of Subaru
wide field imaging with 5-band Subaru + KPNO photometry, we place tight new
constraints on the halo virial mass M_vir = 2.2\pm0.2\times10^15 M\odot/h70
(within r \approx 3 Mpc/h70) and concentration c = 6.2 \pm 0.3 when assuming a
spherical halo. This agrees broadly with average c(M,z) predictions from recent
{\Lambda}CDM simulations which span 5 <~ <c> <~ 8. Our most significant
systematic uncertainty is halo elongation along the line of sight. To estimate
this, we also derive a mass profile based on archival Chandra X-ray
observations and find it to be ~35% lower than our lensing-derived profile at
r2500 ~ 600 kpc. Agreement can be achieved by a halo elongated with a ~2:1 axis
ratio along our line of sight. For this elongated halo model, we find M_vir =
1.7\pm0.2\times10^15 M\odot/h70 and c_vir = 4.6\pm0.2, placing rough lower
limits on these values. The need for halo elongation can be partially obviated
by non-thermal pressure support and, perhaps entirely, by systematic errors in
the X-ray mass measurements. We estimate the effect of background structures
based on MMT/Hectospec spectroscopic redshifts and find these tend to lower
Mvir further by ~7% and increase cvir by ~5%.
