I introduce an important way to think about and construct a DCM: by implementing a yaw–pitch–roll sequence of rotations on a model aircraft. This does away with the widespread but rather involved method of describing the relative orientation of two axis sets by drawing them with a common origin. For this, we must distinguish the idea of a rotation in a sequence being about either a ‘space-fixed’ axis or a ‘carried-along’ axis. Users of these terms tend to fall into two groups, ‘active’ and ‘passive’. I state the ‘fundamental theorem of rotation sequences’, which does away with any need for the reader to stand in one group or the other. I also discuss the extraction of Euler angles from a DCM, and examine infinitesimal rotations. I discuss two methods of interpolating from an initial to a final orientation; one of these is used widely in computer graphics, but both methods must be discussed for the computer-graphics method to be understood. I end with a calculation of the position and attitude of a robot arm.