Positron emission tomography for bone imaging, as an in vivo tracer technique, allows the measurement of the regional concentration of radioactivity proportional to the image pixel values averaged over a region of interest (ROI) in bones. Positron emission tomography is a functional imaging technique that uses [F]NaF radiotracer to visualise and quantify regional bone metabolism and blood flow. [F]NaF has been used for imaging bones for the last 60 years. This article focuses on the pharmacokinetics of [F]NaF in bones, and various semi-quantitative and quantitative methods for quantifying regional bone metabolism using [F]NaF PET images.