Relativistic effects play an important role in the performance of the Global Positioning System (GPS) and in world-wide time comparisons. The GPS has provided a model for algorithms that take relativistic effects into account. In the future exploration of space, analogous considerations will be necessary for the dissemination of time and for navigation. We discuss relativistic effects that are important for a navigation system such as at Mars. We describe relativistic principles and effects that are essential for navigation systems, and apply them to navigation satellites carrying atomic clocks in orbit about Mars, and time transfer between Mars and Earth. It is shown that, as in the GPS, relativistic effects are not negligible.