This document summarizes the natural radioactivity of the Earth's crust and mantle. It discusses the abundance and distribution of the major radioactive nuclides potassium-40, uranium-238, uranium-235, and thorium-232 in rocks and minerals. It also describes the decay processes of these nuclides, which produce heat within the Earth and are used in geochronology and tracing geological processes. The abundances of these radionuclides vary over orders of magnitude in different rock types, providing constraints on models of the Earth's composition and thermal history.