Empathy is the basis for the generation of prosocial behavior and the embodiment of individual socialization. Empathy can help individuals understand others' emotions or feelings more accurately, and correctly predict their next behavioral response according to their emotions or intentions. This article first systematically reviews the concept and core components of empathy, and on this basis, further summarizes the measurement of empathy and related theoretical explanations. Finally, we review the relationship between self-other control and empathy and its theoretical explanations. This article will help subsequent researchers to conduct relevant empirical studies based on this systematic review.