Electric and magnetic multipole moments and polarizabilities are important quantities in studies of intermolecular forces, non-linear optical phenomena, electrostatic, magnetostatic or gravitational potentials and electron scattering. The experimental determination of multipole moments is difficult and therefore the theoretical prediction of these quantities is important. Depending on purposes of the investigation several different definitions of multipole moments and multipole-multipole interactions are used in the literature. Because of this variety of methods it is often difficult to use published results and, therefore, even more new definitions appear. The first goal of this review is to give an overview of mathematical definitions of multipole expansion and relations between different formulations. The second aim is to present a general theoretical description of multipolar ordering on periodic two-dimensional lattices. After a historical introduction in the first part of this manuscript the static multipole expansion in cartesian and spherical coordinates as well as existing coordinate transformations are reviewed. On the basis of the presented mathematical description multipole moments of several symmetric charge distributions are summarized. Next, the established numerical approach for the calculation of multipolar ground states, namely Monte Carlo simulations, are reviewed. Special emphasis is put on the review of ground states in multipolar systems consisting of moments of odd or even order. The last section is devoted to the magnetization reversal in dense packed nanomagnetic arrays, where the magnetic multipole-multipole interactions play an important role. Comparison between the theory and recent experimental results is given.