Bedrock erosion rates in natural landscapes are usually slow, of the order of millimeters per year or less, and sophisticated techniques have been developed to measure them. Different techniques have proved to be valuable depending on the spatial and temporal scale on which information is needed, on the environment and on the scientific question that is asked. Here, we give an overview of the various methods that have been developed. We introduce their working principles and outline their advantages and disadvantages. Further, we provide comprehensive references to relevant literature, both on the methods and on scientific examples of their application.