While analytical methods allow us to find exact formulas for many differential equations, the vast majority of real-world ODEs—especially those modeling complex systems in robotics, fluid dynamics, and climate science—cannot be solved in terms of elementary functions. In such cases, we turn to numerical methods, which provide a way to approximate the solution at discrete points using computational algorithms. Instead of finding a continuous equation for the unknown function, we use the derivative to “step” through time or space, calculating the next value based on the current state. This chapter focuses on leveraging MATLAB to solve ordinary differential equations. Rather than performing tedious hand calculations, we will utilize MATLAB’s built-in suite of solvers, such as ode45 and ode15s.