The objective of this chapter is to review the Taylor series expansion and discuss its usage in error estimation. The unique value of Taylor series expansion is often neglected. The major assumption is that a function must be infinitely differentiable to use the Taylor series expansion. In real applications in oceanography, however, hardly there is a need to worry about a derivative higher than the 3rd order, although one may think of some exceptions. The point is, there is rarely a need in oceanography and other environmental sciences to actually consider calculating a very high order derivative, unless for theoretical investigations or under special situations. So the application of Taylor series expansion usually only involves the first two derivatives. In this chapter, some simple examples are included for a better understanding of the applications.