  Chiral superconductors are two-fold degenerate and domains of opposite
chirality can form, separated by domain walls. There are indications of such
domain formation in the quasi two-dimensional putative chiral $p$-wave
superconductor Sr$_2$RuO$_4$, yet no experiment has explicitly resolved
individual domains in this material. In this work, $c$-axis domain walls lying
parallel to the layers in chiral $p$-wave superconductors are explored from a
theoretical point of view. First, using both a phenomenological Ginzburg-Landau
and a quasiclassical Bogoliubov-deGennes approach, a consistent qualitative
description of the domain wall structure is obtained. While these domains are
decoupled in the isotropic limit, there is a finite coupling in anisotropic
systems and the domain wall can be treated as an effective Josephson junction.
In the second part, the formation and structure of half-quantum vortices (HQV)
on such $c$-axis domain walls are discussed.
