This chapter introduces students to the growing field of Human-Robot Interaction (HRI) with a particular focus on methods for design and experimental evaluation of interactions between autonomous robotic systems and user populations. We commence with a brief situation and motivation for the growth of the field, and review the foundational areas that support this field. Students will be able to discuss the modalities for interaction in various contexts and applications and describe methods for designing these interactions based on principles from relevant areas of study. Students will learn methods to experimentally test and validate interactions.