Astrometry - the study of the positions of astronomical objects and how they move across the sky - is a cornerstone of modern astronomy. Pinning down the distances to and motions of stars in our Galaxy is fundamental - it can lead to an understanding of the origin of these stars and how together they affect the evolution of our Galaxy. Similarly, measuring the motions of planets, their satellites and asteroids is crucial to unravelling the origin and evolution of our solar system (as well as to the planning of space missions to explore them). A workshop held jointly by the Royal Greenwich Observatory and the Institute of Astronomy, in Cambridge, offered an unusual opportunity to bring together astronomers from the fields of Galactic and solar system astrometry. Gathered in this volume are the articles they presented. Together, these provide an auspicious review of optical astrometry and our understanding of the evolution of the Galaxy and solar system for graduate students and researchers.