Electron spin resonance (ESR) is one of an experimental choice for studying magnetic materials that have one or more unpaired electrons. ESR spectroscopy finds its wide applications in branches of science encompassing physics, chemistry, biology, medicine and quantum computation. In this brief review we introduce a basic principle of ESR and describe how to extract information on g-factor, spin and orbital states from the ESR spectral parameters. Finally, several examples are discussed with an intention to have a practical feeling of what ESR can do in magnetism.