Driven by discoveries, and enabled by leaps in technology and imagination, our understanding of the universe has changed dramatically over the course of the last few decades. The fields of astronomy and astrophysics are making new connections to physics, chemistry, biology, and computer science. Based on a broad and comprehensive survey of scientific opportunities, infrastructure, and organization in a national and international context, New Worlds, New Horizons in Astronomy and Astrophysics outlines a plan for ground- and space- based astronomy and astrophysics for the decade of the 2010's. Realizing these scientific opportunities is contingent upon maintaining and strengthening the foundations of the research enterprise including technological development, theory, computation and data handling, laboratory experiments, and human resources. New Worlds, New Horizons in Astronomy and Astrophysics proposes enhancing innovative but moderate-cost programs in space and on the ground that will enable the community to respond rapidly and flexibly to new scientific discoveries.