Infiltration of water into soil is a key process in various fields, including hydrology, hydraulic works, agriculture, and transport of pollutants. Depending upon rainfall and soil characteristics as well as from initial and very complex boundary conditions, an exhaustive understanding of infiltration and its mathematical representation can be challenging. During the last decades, significant research effort has been expended to enhance the seminal contributions of Green, Ampt, Horton, Philip, Brutsaert, Parlange and many other scientists. This review paper retraces some important milestones that led to the definition of basic mathematical models, both at the local and field scales. Some open problems, especially those involving the vertical and horizontal inhomogeneity of the soils, are explored. Finally, rainfall infiltration modeling over surfaces with significant slopes is also discussed.