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The study of classical wave physics has been reinvigorated by incorporating the concept of the geometric phase, which has its roots in optics, and topological notions that were previously explored in condensed matter physics. Recently, sound waves and a variety of mechanical systems have emerged as excellent platforms that exemplify the universality and diversity of topological phases. In this Review, we introduce the essential physical concepts that underpin various classes of topological phenomena realized in acoustic and mechanical systems: Dirac points, the quantum Hall, quantum spin Hall and valley Hall effects, Floquet topological phases, 3D gapless states and Weyl crystals.