The goal of this document is to give a tutorial introduction to the field of SLAM(Simultaneous Localization And Mapping) for mobile robots. There are numerous papers on the subject but for someone new in the field it will require many hours of research to understand many of the intricacies involved in implementing SLAM. The hope is thus to present the subject in a clear and concise manner while keeping the prerequisites required to understand the document to a minimum. It should actually be possible to sit down and implement basic SLAM after having read this paper.