Dragonfly is one of two mission concepts selected in December 2017 to advance into Phase A of NASA’s New Frontiers competition. Dragonfly would address the Ocean Worlds mission theme by investigating Titan’s habitability and prebiotic chemistry and searching for evidence of chemical biosignatures of past (or extant) life. A rotorcraft lander, Dragonfly would capitalize on Titan’s dense atmosphere to enable mobility and sample materials from a variety of geologic settings. This paper describes Dragonfly’s baseline mission design giving a complete picture of the inherent tradespace and outlines the design process from launch to atmospheric entry.