The concept of 4D printing involves the formation of complex three-dimensional structures having the ability to adopt different shapes and forms when subjected to different environmental stimuli. Some researchers simply view this technique as an extension of 3D printing or additive manufacturing with the added constraint of time. However, the unique shape change mechanism exhibited in this process is due to a combination of shape programming and the usage of smart active materials mostly polymers. This review article highlights the various smart materials, activation mechanisms and the shape-changing techniques employed in the 4D printing process. The potential of these shape-changing structures and their current applications in various biomedical and engineering fields is also explored. The article aims to emphasize the potential and viability of 4D printing and is directed towards providing an in-depth insight into the 4D printing process.