Gravity change on a glacier surface is a composite of several effects (e.g. melting and accumulation of snow and ice, redistribution of mass with depth by refreezing of meltwater and height and thickness changes of the snow and ice layers). Models and equations necessary to estimate the measured gravity change due to different effects are presented, and the propagation of observational errors is evaluated. The paper presents experiences with ground-based gravity measurements carried out on Hardangerjøkulen, Norway, in spring and autumn 2007. It was found that the vertical gradient of gravity contributes most to the uncertainty in the determined mass change. With present instrumentation, gravity can be measured with the required accuracy to determine the mass loss to ∼10% of the loss determined by conventional mass-balance measurements. Improvements in field procedures to achieve the required accuracy for measuring the mass/density changes directly, combining gravity measurements and GNSS (Global Navigation Satellite Systems), are discussed.