Mass redistribution in the convecting mantle of a planet causes perturbations in its moment of inertia tensor. Conservation of angular momentum dictates that these perturbations change the direction of the rotation vector of the planet, a process known as true polar wander (TPW). Although the existence of TPW on Earth is firmly established, its rate and magnitude over geologic time scales remain controversial. Here we present scaling analyses and numerical simulations of TPW due to mantle convection over a range of parameter space relevant to planetary interiors. For simple rotating convection, we identify a set of dimensionless parameters that fully characterize true polar wander. We use these parameters to define timescales for the growth...