The dynamic evolution of granular gases is fundamentally different from molecular gases due to the energy loss during collisions. Nevertheless techniques of kinetic theory are useful in a regime, when the granular particles are moving rapidly and the gas is sufficiently dilute. In these lecture notes we analyse in detail the collision of two rough particles which is inelastic due to incomplete normal and tangential restitution as well as Coulomb friction. Based on the Walton model a time evolution operator for the many particle system is introduced, a formalism which is well suited for simple approximations. We discuss free cooling of granular particles with particular emphasis on the exchange of energy between rotational and translational degrees of freedom. (c) 2006 Elsevier B.V. All rights reserved.