Recent advances in nanoscale studies of ferroelectric domains by means of scanning force microscopy (SFM) are reviewed with particular emphasis on investigation of domain structure and polarization reversal in ferroelectric thin films. Applicability of different SFM modes to domain imaging with respect to the physical properties of ferroelectrics is discussed. Examples shown here include results on domain structure observation in single crystals and films by SFM operating in the noncontact, friction, topographic and piezoresponse modes. Domain wall dynamics and fatigue effects as well as SFM spatial resolution of domain structure in thin films are addressed.