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Prior to the Near Earth Asteroid Rendezvous (NEAR) mission, little was known about Eros except for its orbit, spin rate, and pole orientation, which could be determined from ground-based telescope observations. Radar bounce data provided a rough estimate of the shape of Eros. On December 23, 1998, after an engine misfire, the NEAR-Shoemaker spacecraft flew by Eros on a high-velocity trajectory that provided a brief glimpse of Eros and allowed for an estimate of the asteroid''s pole, prime meridian, and mass. This new information, when combined with the ground-based observations, provided good a priori estimates for processing data in the orbit phase.After a one-year delay, NEAR orbit operations began when the spacecraft was successfully inserted into a 320×360 km orbit about Eros on February 14, 2000. Since that time, the NEAR spacecraft was in many different types of orbits where radiometric tracking data, optical images, and NEAR laser rangefinder (NLR) data allowed a determination of the shape, gravity, and rotational state of Eros. The NLR data, collected predominantly from the 50-km orbit, together with landmark tracking from the optical data, have been processed to determine a 24th degree and order shape model. Radiometric tracking data and optical landmark data were used in a separate orbit determination process. As part of this latter process, the spherical harmonic gravity field of Eros was primarily determined from the 10 days in the 35-km orbit. Estimates for the gravity field of Eros were made as high as degree and order 15, but the coefficients are determined relative to their uncertainty only up to degree and order 10. The differences between the measured gravity field and one determined from a constant density shape model are detected relative to their uncertainty only to degree and order 6. The offset between the center of figure and the center of mass is only about 30 m, indicating that Eros has a very uniform density (1% variation) on a large scale (35 km). Variations to degree and order 6 (about 6 km) may be partly explained by the existence of a 100-m, regolith or by small internal density variations. The best estimates for the J2000 right ascension and declination of the pole of Eros are α=11.3692±0.003° and δ=17.2273±0.006°. The rotation rate of Eros is 1639.38922±0.00015°/day, which gives a rotation period of 5.27025547 h. No wobble greater than 0.02° has been detected. Solar gravity gradient torques would introduce a wobble of at most 0.001°. [Copyright &y& Elsevier]