Rory Barnes Lunar and Planetary Lab, University of Arizona The First Successful Prediction of an Extrasolar Planet The first-discovered multiple planet extrasolar systems (as well as the Solar System) appear to have formed in dynamically "packed" configurations; additional planets could not occupy orbits in between those that were known and still be stable. Although the majority of systems exhibit this appearance, a minority did not. This incosistency led to the supposition that all planetary systems are packed, and that stable gaps between planets still harbor planets, they just haven't been detected yet. I will describe how numerical integrations of planetary systems led to the "Packed Planetary Systems" hypothesis, and how subsequent investigations were able to provide quantitative estimates of where additional companions would be discovered. This model recently received an important boost with the discovery of HD 74156 d, detected in between the previously known planets of that system. Moreover, this planet was discovered within 2 sigma of the most stable orbit identified in the pre-discovery predictions. This discovery marks the first successful prediction of an extrasolar planet, as well as only the second successful prediction of a planet ever (the first being Neptune in the 1840's). I will also describe more recent work to search for a simple description of the boundary of dynamical instability in planetary system, work which reinforces the notion that all planetary systems lie near the edge of dynamical instability.