Interference is traditionally viewed as a performance limiting factor in wireless communication systems, which is to be minimized or mitigated. Nevertheless, a recent line of work has shown that by manipulating the interfering signals such that they add up constructively at the receiver side, known interference can be made beneficial and further improve the system performance in a variety of wireless scenarios, achieved by symbol-level precoding (SLP). This paper aims to provide a tutorial on interference exploitation techniques from the perspective of precoding design in a multi-antenna wireless communication system, by beginning with the classification of constructive interference (CI) and destructive interference (DI). The definition for CI is presented and the corresponding mathematical characterization is formulated for popular modulation types, based on which optimization-based precoding techniques are discussed. In addition, the extension of CI precoding to other application scenarios as well as for hardware efficiency is also described. Proof-of-concept testbeds are demonstrated for the potential practical implementation of CI precoding, and finally a list of open problems and practical challenges are presented to inspire and motivate further research directions in this area.