Funding: T. Elsden is funded by a Leverhulme Trust Early Career Fellowship (ECF-2019-155) and the University of Glasgow. A. Wright was partially funded by the Science and Technology Facilities Council (STFC) grant (ST/N000609/1). A. Degeling is supported by the National Natural Science Foundation of China (41774172).This review article aims to summarise recent developments in Alfvén resonance theory, with a focus on applications to magnetospheric ultra-low frequency (ULF) waves, though many of the ideas are relevant for applications in other fields as well. The key aspect we treat is how Alfvén resonance manifests in a fully 3-D varying medium. The prerequisite ideas are developed in a reasonably comprehensive introduction, which would be a...