Before our current notation system was widely adopted by musicians, improvisation was a key component of music throughout the Western world. One of the fundamental elements of the baroque style, namely, using improvised embellishment, offered musicians great artist liberty. During the baroque period, improvisation spread across Europe and beyond. To achieve a thorough understanding of the art of improvisation, it is important to be familiar with several improvisation techniques commonly used in the baroque period. This article focuses on some of these characteristic techniques, such as harmonic improvisation from figured-bass symbols, expressive ornamentation on an existing melodic line, and variation forms. The article also offers educators ways to apply these improvisation techniques to teaching improvisation in elementary music classrooms.