I will give an introduction to factorization homology using configuration spaces, and discuss the nonabelian Poincaré duality theorem of Segal, Salvatore, Lurie, and Ayala–Francis​, which relates factorization homology to mapping spaces. Time permitting, I will also talk about the Ayala–Francis axiomatic approach to factorization homology, which positions factorization homology as a "homology theory for manifolds."