The course is concerned with basic principles of rocket propulsion. We will start with the background and fundamentals for various propulsion systems with their key applications, definitions, basic thermodynamics and nozzle theory, flight performance, and the thermochemistry of chemical propellants. Then the focus will be devoted to chemical propulsion, namely liquid rocket engines and solid rocket motors which have prevailed in the usage of almost all past, current, and planned future rocket-propelled vehicles. The contents of hybrid rocket propulsion, another form of using chemical combustion energy, and electric propulsion shall be introduced in the third part. It is noted that since this is an introductory course, we do not intend to place much emphasis on theoretical derivation but instead to give an overview of state-of-the-art in rocket propulsion. Some relevant topics would also be discussed, such as water rockets.