Matrix computation is ubiquitous in modern scientific and engineering fields. Due to the high computational complexity in conventional digital computers, matrix computation represents a heavy workload in many data-intensive applications, e.g., machine learning, scientific computing, and wireless communications. For fast, efficient matrix computations, analog computing with resistive memory arrays has been proven to be a promising solution. In this Tutorial, we present analog matrix computing (AMC) circuits based on crosspoint resistive memory arrays. AMC circuits are able to carry out basic matrix computations, including matrix multiplication, matrix inversion, pseudoinverse and eigenvector computation, all with one single operation. We describe the main design principles of the AMC circuits, such as local/global or negative/positive feedback configurations, with/without external inputs. Mapping strategies for matrices containing negative values will be presented. The underlying requirements for circuit stability will be described via the transfer function analysis, which also defines time complexity of the circuits towards steady-state results. Lastly, typical applications, challenges, and future trends of AMC circuits will be discussed.