Topological superconductor is described by a full pairing gap in the bulk with nonzero topological number and gapless surface states consisting of Majorana fermion that is a hypothetical particle of its own. Here, being its own means that a Majorana fermion should be an equal superposition of an electron and a hole state. The emergence of Majorana fermions is the most prominent characteristic of topological superconductors. In particle physics, it is still unclear if there are some elementary particles that are Majorana fermions, but importantly, they are likely to exist as quasiparticle excitations in certain condensed matter systems. It has drawn much attention in the content of Majorana fermions recently in particular the condensed matter physics area, since these Majorana states are ideal platform for non-Abelian statistics studies and can be used to fabricate as topological qubit, thus having great potential application in fault-tolerant topological quantum computation. A general introduction to the remarkable properties of Majorana fermions in condensed matter systems will be introduced following the story from Dirac equation to Majorana equation. Then this review elaborates a variety of routes to topological superconductivity in the realm of condensed mater physics, from Majorana modes in zero dimension to one dimension, that is, Majorana bound state and Majorana edge state. These Majorana states are localized states and propagating states respectively, but still obey non-Abelian statistics and remain their topological properties. Specifically, one-dimensional tight-binding model of a p-wave superconductor and a magnetic Fe chain with superconducting pairing are representative platforms for hosting Majorana bound states at the wires ends. Some emergent topological material systems, such as topological insulator, quantum spin Hall insulator, and quantum anomalous Hall insulator are two-dimensional material systems that can not only accommodate Majorana bound states but also Majorana edge states. Different material systems, from one-dimension quantum wire to two-dimension material system, from hybridized system to intrinsic system, will also be discussed specifically. Relevant theoretical studies and experimental results that show possible signatures of topological superconductivity and Majorana states are summarized as well. Particularly, experimental signatures of these Majorana states, such as zero-bias conductance peaks in tunneling spectra due to Majorana bound states, quantization of conductance in magneto-electric transport measurements due to chiral Majorana edge states, and some unconventional superconductivities in intrinsic topological superconductors will be briefly reviewed. Insights about methods to perspectives to realize topological quantum computation is provided at the end, emphasizing the braiding using different Majorana states. The goal of this review is to provide a general introduction to the subject for either experimentalists or theorists who are new to this field, focusing on the aspects and current progresses which are most important for understanding these basic physics.