Stylus orientation detection is disclosed. In an example, the orientation of a stylus relative to a contacting surface, e.g., a touch panel, can be detected by detecting a capacitance at one or more locations on the stylus relative to the surface, and then using the capacitance(s) to determine the orientation of the stylus relative to the surface. In another example, the orientation of a stylus relative to a contacting surface, e.g., a touch panel, can be detected by first detecting the orientation of the stylus relative to a reference, detecting the orientation of the contacting surface relative to the reference, and then calculating the orientation of the stylus relative to the contacting surface using the two detected orientations.