The fundamental contact mechanics principles underlying nanoindentation testing techniques are reviewed. A range of material constitutive responses are covered, including elastic, plastic, and viscous deformation, and incorporating indentation of linearly viscoelastic materials and poroelastic materials. Emphasis is on routine analysis of experimental nanoindentation data, including deconvolution techniques for material properties measurements during indentation. In most cases, an analytical approach for an isotropic half-space is considered. Special cases are briefly described, including anisotropic materials, inhomogeneous composite materials and layered filmsubstrate systems.