Venus and Mars are the nearest planets and the most accessible to spacecraft. Not surprisingly, the greatest effort in planetary exploration has been devoted to these fascinating worlds. In the chapte...Venus and Mars are the nearest planets and the most accessible to spacecraft. Not surprisingly, the greatest effort in planetary exploration has been devoted to these fascinating worlds. In the chapter, we discuss some of the results of more than four decades of scientific exploration of Mars and Venus. Mars is exceptionally interesting, with evidence that points to habitable conditions in the past.