This chapter discusses the methods of CMG torque allocation, i.e. algorithms for calculating CMG gimbal rates to provide a commanded torque to the vehicle. Solutions to this problem are analogous to the problem of inverse kinematics in robotics. The literature often refers to these allocation techniques as steering algorithms or steering laws, of which pseudoinverse solutions are the most commonly discussed. The chapter surveys many classes of steering algorithms, starting with pseudoinverse methods, continuing with the more conservative methods based on limited gimbal angles and angular momentum, and ending with the less conventional and state-of-the-art optimal methods.