Our understanding of the process of terrestrial planet formation has grown markedly over the past 20 years, yet key questions remain. This review begins by first addressing the critical, earliest stage of dust coagulation and concentration. While classic studies revealed how objects that grow to ∼meter sizes are rapidly removed from protoplanetary disks via orbital decay (seemingly precluding growth to larger sizes), this chapter addresses how this is resolved in contemporary, streaming instability models that favor rapid planetesimal formation via gravitational collapse of solids in overdense regions. Once formed, planetesimals grow into Mars-Earth-sized planetary embryos by a combination of pebble- and planetesimal accretion within the lifetime of the nebular disk. After the disk dissipates, these embryos typically experience a series of late giant impacts en route to attaining their final architectures. This review also highlights three different inner Solar System formation models that can match a number of empirical constraints and also reviews ways that one or more might be ruled out in favor of another in the near future. These include (1) the Grand Tack, (2) the Early Instability, and (3) Planet Formation from Rings. Additionally, this chapter discusses formation models for the closest known analogs to our own terrestrial planets: super-Earths and terrestrial exoplanets in systems also hosting gas giants. Finally, this review lays out a chain of events that may explain why the Solar System looks different from more than 99% of exoplanet systems.