The configuration space of a manifold provides the appropriate setting for problems not only in topology but also in other areas such as nonlinear analysis and algebra. With applications in mind, the aim of this monograph is to provide a coherent and thorough treatment of the configuration spaces of Euclidean spaces and spheres which makes the subject accessible to researchers and graduate students with a minimal background in classical homotopy theory and algebraic topology. The treatment regards the homotopy relations of Yang-Baxter type as being fundamental. It also includes a novel and geometric presentation of the classical pure braid group; the cellular structure of these configuration spaces which leads to a cellular model for the associated based and free loop spaces; the homology and cohomology of based and free loop spaces; and an illustration of how to apply the latter to the study of Hamiltonian systems of k-body type.