The sudden appearance of fossils that marks the so-called 'Cambrian explosion' has intrigued and exercised biologists since Darwin's time. In On the Origin of Species, Darwin made it clear that he believed that ancestral forms 'lived long before' their first fossil representatives. While he considered such an invisible record necessary to explain the level of complexity already seen in the fossils of early trilobites, Darwin was at a loss to explain why there were no corresponding fossils of these earlier forms. In chapter 9 of the Origin, entitled 'On the imperfection of the geological record', he emphasized the 'poorness of our palaeontological collections' and stated categorically that 'no organism wholly soft can be preserved'. Fortunately much has been discovered in the last 150 years, not least multiple examples of Cambrian and Precambrian soft-bodied fossils. We now know that the sudden appearance of fossils in the Cambrian (541-485 million years ago) is real and not an artefact of an imperfect fossil record: rapid diversification of animals coincided with the evolution of biomineralized shells. And although fossils in earlier rocks are rare, they are not absent: their rarity reflects the low diversity of life at this time, as well as the low preservation potential of Precambrian organisms (see Primer by Butterfield, in this issue).