"Physical Geodesy", published in 1967, has for many years been considered as the standard introduction to its field. The enormous progress since then has required a complete reworking. While basic material has been retained other parts are completely updated. However, there is a seamless welding of new ideas and methods (GPS, satellites, collocation). Highlights include: emphasis on global integration of geometry and gravity, a simplified approach to Molodensky's theory without integral equations, and a general combination of all geodetic data by least-squares collocation. In the second edition minor mistakes have been corrected.