While the point cloud is usually seen as the output product of laser scanning, in principle the laser scanner measures only the range to a target through light detection and ranging (LiDAR), and the directional angle of the laser beam. The range and angle measurements are first transformed to local scanner-referenced coordinates and then georeferenced to an earth-fixed coordinate system. This requires knowledge of the scanner’s position and orientation (trajectory), which is usually derived from GNSS (global satellite navigation system) and INS (inertial navigation system). Thus, the accuracy of the georeferenced 3D point cloud depends on the accuracy of the scanner’s trajectory, interior and exterior orientation. Both aspects can be improved in an integrated sensor orientation procedure, making use of overlapping areas in the LiDAR point clouds. This talk gives an introduction to LiDAR georeferencing, sensor calibration, and sensor orientation for laser scanning practitioners. The topics range from the basics of GNSS/INS hardware and processing, via possible trajectory errors and their impact on the point cloud, to commonly used techniques to mitigate trajectory errors in an integrated sensor orientation. The latter includes strip alignment and LiDAR strip adjustment as well as integration with other sensors such as in a LiDAR/image hybrid adjustment. Finally, recent developments and future trends in LiDAR georeferencing are discussed.