The Minnesota Department of Transportation (MnDOT) launched the Minnesota Bicycle and Pedestrian Counting Initiative in 2011--a statewide, collaborative effort to encourage and support non-motorized traffic monitoring. One of the objectives of the Initiative was to provide guidance related to monitoring bicycle and pedestrian traffic. This manual is an introductory guide to nonmotorized traffic monitoring. The manual describes general traffic monitoring principles, bicycle and pedestrian data collection sensors, how to perform counts, data management and analysis, and the next steps for bicycle and pedestrian traffic monitoring in Minnesota. The manual also includes several case studies that illustrate how bicycle and pedestrian traffic data can be used to support transportation planning and engineering.