Planets form in a gas disk around young stars. By interacting with this disk, they migrate (which explains the famous hot Jupiters, for instance). In the case of the Solar System, we have specific constrains on what the giant planets can have done, and where they must end (their present orbits). In this talk, I will first review and explain the basic principles of planetary migration. Then, I will show what applies specifically to the Solar System, and how we can reconstruct the fascinating history of our own, particular planetary system. We will see that this allows to better understand how planetary systems in general can be so diverse.