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We report on recent refinements and the current status for the rotationalstate models and the reference frame of the planet Mercury. We summarize theperformed measurements of Mercury rotation based on terrestrial radarobservations as well as data from the Mariner 10 and the MESSENGER missions.Further, we describe the different available definitions of reference systemsfor Mercury, which are realized using data obtained by instruments on boardMESSENGER. In particular, we discuss the dynamical frame, the principal-axesframe, the ellipsoid frame, as well as the cartographic frame. We also describethe reference frame adopted by the MESSENGER science team for the release oftheir cartographic products and we provide expressions for transformations fromthis frame to the other reference frames.

The reference frames of Mercury after MESSENGER