The asteroid belt is found today in a dramatically different state than that immediately following its formation. It is estimated that it has been depleted in total mass by a factor of at least 1000 since its formation, and that the asteroids' orbits evolved from having near-zero eccentricity and inclination to the complex distributions we find today. The asteroid belt also hosts a wide range of compositions, with the inner regions dominated by S-type and other water-poor asteroids and the outer regions dominated by C-type and other primitive asteroids. We discuss a model of early inner solar system evolution whereby the gas-driven migration of Jupiter and Saturn brings them inwards to 1.5 AU, truncating the disk of planetesimals in the ter...