These proceedings contain 27 papers, which are the peer-reviewed versions of presentations made at the International Association of Geodesy (IAG) symposium "Gravity, Geoid and Height Systems 2016" (GGHS2016). GGHS2016 was the first Joint international symposium organized by IAG Commission 2 "Gravity Field", the International Gravity Field Service (IGFS) and the GGOS Focus Area "Unified Height System". It took place in Thessaloniki, Greece, in September 19-23, 2016 at the premises of the Aristotle University of Thessaloniki. The symposium was organized by the Department of Geodesy and Surveying of the Aristotle University of Thessaloniki, which presently hosts the IGFS Central Bureau. The focus of the Symposium was on methods for observing, estimating and interpreting the Earth gravity field as well as its applications. GGHS2016 continued the long and successful history of IAG's Commission 2 Symposia.