In 1609, Johannes Kepler published his first two laws of planetary motion in 'Astronomia Nova', with the third law following in 1619. Using Tycho Brahe's astronomical observations, Kepler determined that planets move in elliptical orbits with the Sun at one focus, sweep out equal areas in equal times, and have orbital periods proportional to the 3/2 power of their average distance from the Sun. These laws replaced the concept of circular planetary orbits and provided foundational principles for Newton's later theory of universal gravitation.