Amorphous materials as diverse as foams, emulsions, colloidal suspensions and granular media can jam into a rigid, disordered state where they withstand finite shear stresses before yielding. Here we review the current understanding of the transition to jamming and the nature of the jammed state for disordered packings of particles that act through repulsive contact interactions and are at zero temperature and zero shear stress. We first discuss the breakdown of affine assumptions that underlies the rich mechanics near jamming. We then extensively discuss jamming of frictionless soft spheres. At the jamming point, these systems are marginally stable (isostatic) in the sense of constraint counting, and many geometric and mechanical properties scale with distance to this jamming point. Finally, we discuss current explorations of jamming of frictional and non-spherical (ellipsoidal) particles. Both friction and asphericity tune the contact number at jamming away from the isostatic limit, but in opposite directions. This allows one to disentangle the distance to jamming and the distance to isostaticity. The picture that emerges is that most quantities are governed by the contact number and scale with the distance to isostaticity, while the contact number itself scales with the distance to jamming.