I introduce quaternions by recounting the story of how Hamilton discovered them, but in far more detail than other authors give. This detail is necessary for the reader to understand why Hamilton wrote his quaternion equations in the way that he did. I describe the role of quaternions in rotation, show how to convert between them and matrices, and discuss their role in modern computer graphics. I describe a modern problem in detail whereby Hamilton’s original definition has been ‘hijacked’ in a way that has now produced much confusion. I end by describing how quaternions play a role in topology and quantum mechanics.