The early phases of formation in the inner solar system were dominated by collisions and short-range dynamical interactions among planetesimals. But the later phases, which account for most of the differences among planets, are unsure because the dynamics are more subtle. Jupiter’s influence became more important, leading to drastic clearing out of the asteroid belt and the stunting of Mars’s growth. Further in, the effect of Jupiter— both directly and indirectly, through ejection of mass in the outer solar system— was probably to speed up the process without greatly affecting the outcome. The great variety in bulk properties of the terrestrial bodies indicate a terminal phase of great collisions, so that the outcome is the result of small-N statistics. Mercury, 65 percent iron, appears to be a residual core from a high-velocity collision. All planets appear to require a late phase of high energy impacts to erode their atmospheres: including the Earth, to remove CO2 so that its ocean could form by condensation of water.