Earth entry system options for human return missions from the Moon and Mars were analyzed and compared to identify trends among the configurations and trajectory options and to facilitate informed decision making at the exploration architecture level. Entry system options included ballistic, lifting capsule, biconic, and lifting body configurations with direct entry and aerocapture trajectories. For each configuration and trajectory option, the thermal environment, deceleration environment, crossrange and downrange performance, and entry corridor were assessed. In addition, the feasibility of a common vehicle for lunar and Mars return was investigated. The results show that a low lift-to-drag ratio (L/D - 0.3) vehicle provides sufficient performance for both lunar and Mars return missions while providing the following benefits: excellent packaging efficiency, low structural and TPS mass fraction, ease of launch vehicle integration, and system elegance and simplicity. Numerous configuration options exist that achieve this L/D.