The Centaur is a family of rocket propelled upper stages that has been in use since 1962. It is currently produced by U.S. launch service provider United Launch Alliance, with one main active version and one version under development. The 3.05 m (10.0 ft) diameter Common Centaur/Centaur III flies as the upper stage of the Atlas V launch vehicle, and the 5.4 m (18 ft) diameter Centaur V has been developed as the upper stage of ULA's new Vulcan rocket. Centaur was the first rocket stage to use liquid hydrogen (LH2) and liquid oxygen (LOX) propellants, a high-energy combination that is ideal for upper stages but has significant handling difficulties.

A multistage rocket or step rocket is a launch vehicle that uses two or more rocket stages, each of which contains its own engines and propellant. A tandem or serial stage is mounted on top of another stage; a parallel stage is attached alongside another stage. The result is effectively two or more rockets stacked on top of or attached next to each other. Two-stage rockets are quite common, but rockets with as many as five separate stages have been successfully launched.