This work intends to present an introduction to the Dynamics of Multibody Systems, with rigid and flexible bodies, by presenting the following stages: Modelization, Control and Simulation. The modelization of multibody systems is presented, exploring finite rotation parametrization, description of deformation of the flexible bodies and symbolic derivation of the equations of motion. Finite rotations parametrization is presented using classical systems of parametrization such as Euler`s and Bryant`s angles, Euler`s and Rodrigues` parameters and conformal rotation vector, rotation vector and quaternions. The problem of singularity of parametrization is studied by the comparison of the various systems of parametrization. The method of assumed modes is presented to describe the deformation of flexible bodies. The formulation of the equations of motion is done using Lagrange`s and Maggi-Kane`s equations. The equations of motion are derived using the MATLAB`s Symbolic Math Toolbox. The state-space linear control of multibody systems is presented. Two different methods are presented to design the control system: eigenvalues imposition and optimal control. The simulation of some numerical examples of multibody systems is presented. An analysis of the integration methods is done. All the computations are done in MATLAB, using the Symbolic Math Toolbox functions to the modelization, the Control Toolbox to the control and the OdeSuite to the integration of the equations of motion.