The origin of the Martian dichotomy is subject to question and no substantial evidence exists. Some surface and interior features that are not visible in, e.g., topography data, can show up in gravity data. Therefore, this research inverts gravity data to find a crustal and mantle global density model. Previous research performed a one-layer inversion, assuming equal mass in all columns. Also, missions like InSight do not provide global interior information, but only at the landing site. The aim of this research is to provide a global density model of both the Martian crust and upper mantle. The inversion is performed using a weighted, regularized least-squares algorithm. The gravity input consists of the residual between the MRO120F data set and the state-of-the-art gravity field model of the TU Delft. The design matrix is built using Green’s functions, which define the influence of a mass element in all different directions on a measurement point. Using this least-squares algorithm, three different methods for inversion are used. The separate two-layer inversion, the combined independent two-layer inversion and the combined dependent two-layer inversion. All three inversion methods are performed on synthetic planets as well, for verification purposes. By performing all inversions on the synthetic planets, it was found that the combined independent two-layer inversion results in a strong decoupling of short and long wavelength signals, but is not able to attribute gravity signals to different features in the crust and mantle. The combined dependent two-layer inversion does lead to a result that shows decoupling of crust and mantle features. The hypothesis is that adding different gravity components to the combined dependent two-layer inversion will further increase its accuracy. The results of the inversion methods applied to Mars are in agreement with existing research in terms of standard deviations of the crust and mantle density anomalies. The maps were also analysed geologically, where the most important conclusion is the evidence of potential impact basins in the north polar region. These can be evidence to accept the several impact theory for the origination of the Martian dichotomy. Increasing the resolution and refining the third inversion method with multiple gravity components will increase the potential of gravity inversion to define geological features of Mars.