  Mathematical modelling allows us to concisely describe fundamental principles
in biology. Analysis of models can help to both explain known phenomena, and
predict the existence of new, unseen behaviours. Model analysis is often a
complex task, such that we have little choice but to approach the problem with
computational methods. Numerical continuation is a computational method for
analysing the dynamics of nonlinear models by algorithmically detecting
bifurcations. Here we aim to promote the use of numerical continuation tools by
providing an introduction to nonlinear dynamics and numerical bifurcation
analysis. Many numerical continuation packages are available, covering a wide
range of system classes; a review of these packages is provided, to help both
new and experienced practitioners in choosing the appropriate software tools
for their needs.
