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Recent advances in radio astrometry with the VLBA have resulted in nearmicro-arcsecond accurate trigonometric parallax and proper motion measurementsfor masers in star forming regions. We are now poised to directly measure thefull 3-dimensional locations and motions of every massive star forming regionin the Milky Way and for the first time to map its spiral structure. Suchmeasurements would also yield the full kinematics of the Milky Way anddetermine its fundamental parameters (Ro and To) with 1% accuracy. Coupled withother observations this would yield the distribution of mass among the variouscomponents (including dark matter) of the Milky Way.

Structure and Dynamics of the Milky Way: an Astro2010 Science White Paper