We define crystal operators on semistandard shifted tableaux, giving a new proof that Schur $P$-functions are Schur positive. We define a queer crystal operator to construct a connected queer crystal on semistandard shifted tableaux of a given shape, providing a new proof that products of Schur $P$-functions are Schur $P$-positive. We also give a rectification map from shifted tableaux to Young tableaux that commutes with the crystal operators and provides a dual algorithm to shifted insertion.