This book aims to provide an overview of several topics in advanced differential geometry and Lie group theory, all of them stemming from mathematical problems in supersymmetric physical theories. It presents a mathematical illustration of the main development in geometry and symmetry theory that occurred under the fertilizing influence of supersymmetry/supergravity. The contents are mainly of mathematical nature, but each topic is introduced by historical information and enriched with motivations from high energy physics, which help the reader in getting a deeper comprehension of the subject.