Terahertz time-domain spectroscopy (THz-TDS) is a powerful technique for material’s characterization and process control. It has been used for contact-free conductivity measurements of metals, semiconductors, 2D materials, and superconductors. Furthermore, THz-TDS has been used to identify chemical components such as amino acids, peptides, pharmaceuticals, and explosives, which makes it particularly valuable for fundamental science, security, and medical applications. This tutorial is intended for a reader completely new to the field of THz-TDS and presents a basic understanding of THz-TDS. Hundreds of articles and many books can be consulted after reading this tutorial. We explore the basic concepts of TDS and discuss the relationship between temporal and frequency domain information. We illustrate how THz radiation can be generated and detected, and we discuss common noise sources and limitations for THz-TDS. This tutorial concludes by discussing some common experimental scenarios and explains how THz-TDS measurements can be used to identify materials, determine complex refractive indices (phase delay and absorption), and extract conductivity.