NASA’s Interior Exploration using Seismic Investigations, Geodesy, and Heat Transport (InSight) mission was scheduled to launch the next lander to Mars in March 2016 arriving to the Red Planet in the fall. Derived from the Phoenix mission which successfully landed on Mars in May 2008, the InSight Entry, Descent, and Landing system will place a lander in the Elysium Planitia region. This paper specifies the mission and navigation requirements set by the Project and how the final mission and navigation design satisfies those requirements. Background information affecting navigation including spacecraft modeling and the physical environment which influences the spacecraft motion are included. (Note from the author: The InSight launch in 2016 was suspended due to critical issues with the Seismic Experiment for Interior Structure (SEIS) instrument that could not be fixed prior to the planned launch period. This paper represents the state of the design for the 2016 mission. No attempt has been made to reflect the latest developments).