The evolution of eusociality, here defined as the emergence of societies with reproductive division of labour and cooperative brood care, was first seen as a challenge to Darwin's theory of evolution by natural selection. Why should individuals permanently forgo direct reproduction to help other individuals to reproduce? Kin selection, the indirect transmission of genes through relatives, is the key process explaining the evolution of permanently nonreproductive helpers. However, in some taxa helpers delay reproduction until a breeding opportunity becomes available. Overall, eusociality evolved when ecological conditions promote stable associations of related individuals that benefit from jointly exploiting and defending common resources. High levels of cooperation and robust mechanisms of division of labour are found in many animal societies. However, conflicts among individuals are still frequent when group members that are not genetically identical compete over reproduction or resource allocation.