In this paper we discuss the stabilization of the rigid body dynamics by external torques (gas jets) and internal torques (momentum wheels). Our starting point is a generalization of the stabilizing quadratic feedback law for a single external torque recently analyzed in Bloch and Marsden [ Proc. 27th IEEE Conf. Dec. and Con., pp. 2238–2242 (1989b); Sys. Con. Letts., 14, 341–346 (1990)] with quadratic feedback torques for internal rotors. We show that with such torques, the equations for the rigid body with momentum wheels are Hamiltonian with respect to a Lie-Poisson bracket structure. Further, these equations are shown to generalize the dual-spin equations analyzed by Krishnaprasad [ Nonlin. Ana. Theory Methods and App., 9, 1011–1035 (1985)] and Sánchez de Alvarez [Ph.D. Diss. (1986)]. We establish stabilization with a single rotor by using the energy-Casimir method. We also show how to realize the external torque feedback equations using internal torques. Finally, extending some work of Montgomery [ Am. J. Phys., 59, 394–398 (1990)], we derive a formula for the attitude drift for the rigid body-rotor system when it is perturbed away from a stable equilibrium and we indicate how to compensate for this.