Plant root system development is highly modulated by the physical properties of the soil and especially by its mechanical resistance to penetration. The interplay between the mechanical stresses exerted by the soil and root growth is of particular interest for many communities, in agronomy and soil science as well as in biomechanics and plant morphogenesis. In contrast to aerial organs, roots apices must exert a growth pressure to penetrate strong soils and reorient their growth trajectory to cope with obstacles like stones or hardpans or to follow the tortuous paths of the soil porosity. In this review, we present the main macroscopic investigations of soil-root physical interactions in the field and combine them with simple mechanistic modeling derived from model experiments at the scale of the individual root apex.